Platform and platform system

Abstract

The invention provides a platform or similar structure that absorbs the movement of a ship while making contact with a floating structure. [Solution] The platform for moving people from a ship to a floating structure comprises an installation section for installing the platform on the deck of the ship, a flat floor section for moving the people while in contact with the floating structure, and a plurality of extendable cylinders that connect the installation section and the flat floor section and absorb the six-axis sway of the ship.

Description

Technical Field

[0001] The present disclosure relates to a platform for a person to move from a ship to an offshore structure, and a platform system including the platform.

Background Art

[0002] Offshore structures such as offshore wind power facilities require regular maintenance and inspection for stable operation. When performing maintenance and inspection of an offshore structure, an operator needs to move from a work boat such as a CTV (Crew Transfer Vessel) to the offshore structure.

[0003] Such movement is performed, for example, using a gangway installed on a work boat. A gangway is a boarding bridge or passage that connects a ship and a quay wall, or connects a ship and another ship or facility.

[0004] Here, Patent Document 1 discloses a fall prevention mechanism that can prevent the tip of a bridge from detaching from a target facility even when instantaneous and irregular waves occur, thereby preventing an operator from falling and preventing a collision of the tip of the bridge.

[0005] The fall prevention mechanism of Patent Document 1 includes a parallel link that is arranged parallel to the longitudinal direction of the bridge and one end on the main flat floor side is pivotally supported and inclines upward and downward while remaining parallel to the longitudinal direction of the bridge, and a tilt adjustment link that is rotatably connected to the other end of the bridge and is rotatably connected to the other end of the parallel link so that the tilt angle with respect to the horizontal direction is kept constant when the bridge and the parallel link incline, and a tip step that is provided on the side of the other end of the bridge so as to be able to incline upward and downward, and the downward tilt angle with respect to the horizontal direction is limited by a flexible member connected to the tilt adjustment link while the upward tilt is not limited.

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Publication No. 2021-14776 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] In the fall prevention mechanism described in Patent Document 1, the vertical angle of the bridge-side member supported by one end of the main flat floor section is changed to prevent the tip of the bridge from detaching from the target equipment.

[0008] However, the tip of the bridge is vulnerable to swaying caused by sudden waves and impacts from collisions with target objects.

[0009] Therefore, the purpose of this disclosure is to provide a platform that absorbs the motion of a ship while in contact with a water structure, and a platform system equipped with said platform. [Means for solving the problem]

[0010] To solve the above problems, a platform for moving people from a ship to a water structure according to one embodiment of the present disclosure comprises an installation section for installing the platform on the deck of the ship, a platform flat section for moving the people while in contact with the water structure, and a plurality of extendable cylinders that connect the installation section and the platform flat section and absorb the six-axis sway of the ship. [Effects of the Invention]

[0011] According to one embodiment of this disclosure, it is possible to absorb the six-axis motion of a ship while it is in contact with a floating structure. Other problems, configurations, and effects will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0012] [Figure 1] This diagram shows an overview of the platform according to the first embodiment. [Figure 2]It is a schematic diagram showing an example of a platform system according to the first embodiment. [Figure 3] It is a diagram showing an example of the hardware configuration of the operation control unit of the platform system. [Figure 4] It is a diagram showing an example of a platform according to the first embodiment. [Figure 5] It is a rear view of the platform according to the first embodiment. [Figure 6] It is a top view of the platform according to the first embodiment. [Figure 7] It is a diagram showing the operation image of the platform according to the first embodiment. [Figure 8] It is a diagram showing the operation image of the platform according to the first embodiment. [Figure 9] It is a diagram showing the operation image of the platform according to the first embodiment. [Figure 10] It is a flowchart regarding the operation control of the platform system according to the first embodiment. [Figure 11] It is a top view of the platform according to the second embodiment. [Figure 12] It is a front view of the platform according to the second embodiment. [Figure 13] It is a rear view of the platform according to the second embodiment. [Figure 14] It is a diagram showing the operation image of the platform according to the second embodiment. [Figure 15] It is a diagram showing the operation image of the platform according to the second embodiment. [Figure 16] It is a diagram showing the operation image of the platform according to the second embodiment. [Figure 17] It is a schematic diagram showing an example of a platform system according to the third embodiment. [Figure 18] It is a flowchart regarding the operation control of the platform system according to the third embodiment. [Figure 19]It is a diagram showing a first example of the cylinder arrangement of the platform according to the fourth embodiment. [Figure 20] It is a diagram showing a second example of the cylinder arrangement of the platform according to the fourth embodiment. [Figure 21] It is a diagram showing an example of the cylinder arrangement of the platform according to the fifth embodiment. [Figure 22] It is a diagram showing a first example of the operation of the platform according to the sixth embodiment. [Figure 23] It is a diagram showing a second example of the operation of the platform according to the sixth embodiment.

Mode for Carrying Out the Invention

[0013] Hereinafter, as an example of a mode for carrying out the present disclosure, a platform and a platform system will be described with reference to the drawings. In each drawing, the same reference numerals are assigned to the same components, and redundant descriptions may be omitted.

[0014] [First Embodiment] FIG. 1 shows an overview of the platform 100 according to the first embodiment. The platform 100 refers to, for example, a boarding bridge or passage that connects between the ship 10 and the quay wall, or between the ship 10 and other ships or facilities. In the present embodiment, a platform for a person to move from the ship 10 to an offshore structure will be described as an example.

[0015] In this figure, a ship 10 such as a CTV (Crew Transfer Vessel) approaches an offshore wind power generation facility 20, which is an example of an offshore structure, for maintenance and inspection, and a case where an operator moves from the ship 10 to the offshore wind power generation facility 20 using the platform 100a will be described.

[0016] This figure is a view of the ship 10 seen from above. The platform 100a is installed, for example, on the front deck of the ship 10.

[0017] The vessel 10 approaches the offshore wind power generation facility 20 in the positive X-axis direction. Because the tip of the platform 100a protrudes beyond the bow of the vessel 10, it makes contact with the ladder of the offshore wind power generation facility 20 before the vessel 10. The platform 100a is equipped with a structure that absorbs the swaying of the vessel 10 and the impact caused by contact with the water structure, thereby increasing the stability of the footing when workers move from the vessel 10 to the offshore wind power generation facility 20. Factors causing the swaying of the vessel 10 include, for example, the movement of the vessel 10 itself due to waves and wind, and the impact caused by collision with the water structure. The structure and function of the platform 100a will be described later.

[0018] Furthermore, the installation location and number of platforms 100a on the vessel 10 are not limited to those shown in Figure 1. For example, platforms 100b may be installed on the side deck of the vessel 10. In this case, the vessel 10 can approach a pier 25, which is an example of a floating structure, in the positive Y-axis direction, and workers can move using platforms 100b.

[0019] Furthermore, this disclosure is not limited to CTVs but is applicable to ships 10 in general. Also, the floating structures are not limited to offshore wind power generation facilities 20, but may include, for example, oil and gas production platforms, ocean observation facilities, floating new energy facilities, piers, etc., and are not limited to this figure.

[0020] In this diagram, the platform is described as being divided into platforms 100a and 100b. However, in the following explanation, platforms 100a and 100b may be collectively referred to as platform 100.

[0021] Figure 2 is a schematic diagram showing an example of a platform system 300 according to the first embodiment. The platform system 300 comprises a platform 100a, a drive control unit 30, and an operation control unit 40.

[0022] Details of platform 100a will be described later in Figure 4. Here, we will describe the overview of platform 100a. Platform 100a is positioned, for example, on the centerline of the hull (on a straight line in the X-axis direction passing through the center of the hull in the Y-axis direction). Platform 100a comprises a flat floor section for moving people while in contact with a water structure, an installation section for setting the platform on the deck of the ship 10, and a plurality of extendable cylinders that connect the flat floor section and the installation section and absorb the 6-axis sway of the ship 10. Each cylinder is made of, for example, stainless steel. Each cylinder is extendable and retractable by driving by hydraulics, water pressure, pneumatics, etc.

[0023] The drive control unit 30 is connected to the platform 100a in a manner that enables communication and operation transmission, and controls the operation and driving of the platform 100a. The drive control unit 30 also has a communication function for communicating with the platform 100a and the operation control unit 40 (described later), and power equipment such as a generator and a hydraulic pump.

[0024] Furthermore, the drive control unit 30 controls the hydraulic pump, motor, etc., to operate each cylinder of the platform 100a, causing each cylinder to extend and retract.

[0025] The operation control unit 40 controls and provides operation instructions for the entire platform system 300. For example, the operation control unit 40 is communicatively connected to the drive control unit 30 and provides various control instructions to the drive control unit 30. The operation control unit 40 is also communicatively connected to the platform 100a and can receive various signals from the platform 100a and send control signals to the platform 100a. The operation control of the platform system 300 will be described later.

[0026] In this diagram, the drive control unit 30 and the operation control unit 40 are installed on board the ship, but their installation locations are not limited to those shown. For example, the drive control unit 30 may be installed inside the ship to secure workspace on board. Alternatively, the drive control unit 30 may be replaced by other generators or hydraulic pumps installed on the ship 10.

[0027] Figure 3 shows an example of the hardware configuration of the operation control unit 40 of the platform system 300. The operation control unit 40 has, for example, the hardware configuration of the computer 1000 as shown in Figure 3.

[0028] Computer 1000 includes, for example, a CPU (Central Processing Unit) 1010, which is an example of a processor, RAM (Random Access Memory) 1020, ROM (Read Only Memory) 1030, HDD (Hard Disk Drive) controller 1040, HD (Hard Disk) 1050, display 1115, external device connection I / F (Interface) 1060, network I / F 1190, keyboard 1110, pointing device 1120, optical drive 1130, media I / F 1150, and bus line 1200, as shown in Figure 3.

[0029] Furthermore, the computer 1000 also includes, for example, a speaker 1080, a microphone 1090, an audio input / output interface 1070, a CMOS (Complementary Metal Oxide Semiconductor) sensor 1180, and an image sensor interface 1170.

[0030] Of these, the CPU 1010 controls the overall operation of the computer 1000. The ROM 1030 stores programs used to start the computer 1000, such as the IPL (Initial Program Loader). The RAM 1020 is used, for example, as the work area for the CPU 1010. The HD 1050 stores programs such as the OS (Operating System), applications, and device drivers, as well as various data. The HDD controller 1040 controls the reading or writing of various data to the HD 1050, for example, according to the control of the CPU 1010. Note that the HD 1050 and the HDD controller 1040 are examples of storage devices provided by the computer 1000, and SSDs (Solid State Drives) may also be used. Alternatively, programs such as applications and device drivers may be recorded on the recording medium 1140 or media 1160, and the CPU 1010 may control the execution of these programs.

[0031] The display 1115 displays various information, such as a cursor, menu, window, text, or image. The display 1115 may be located outside the computer 1000. The external device connection interface 1060 is an interface for connecting various external devices to the computer 1000. The network interface 1190 is an interface for connecting the computer 1000 to a communication network and communicating with other devices.

[0032] The keyboard 1110 is a type of input means equipped with multiple keys for inputting characters, numbers, various instructions, etc. The pointing device 1120 is a type of input means for selecting and executing various instructions, selecting processing targets, moving the cursor, etc. Note that the keyboard 1110 and the pointing device 1120 may be provided outside the computer 1000.

[0033] The optical drive 1130 controls the reading or writing of various data to a recording medium 1140, such as a DVD-RW or BD-RE, which is an example of a removable recording medium. Note that the recording medium 1140 is not limited to DVD-RW, but may be other recording media. The media interface 1150 controls the reading or writing (recording) of data to a media 1160, such as flash memory. The bus line 1200 includes an address bus, a data bus, and various control signals for electrically connecting the above components.

[0034] Microphone 1090 is a built-in circuit that converts sound into electrical signals. Speaker 1080 is a built-in circuit that converts electrical signals into physical vibrations to produce sound such as music and speech. Sound input / output interface 1070 is a circuit that processes sound input and output, such as music and speech, between speaker 1080 and microphone 1090 according to the control of CPU 1010.

[0035] The CMOS sensor 1180 is a type of built-in imaging means that captures an image of a subject and obtains image data according to the control of the CPU 1010. The computer 1000 may also have an imaging means such as a CCD (Charge Coupled Device) sensor instead of the CMOS sensor 1180. The image sensor interface 1170 is a circuit that controls the driving of the CMOS sensor 1180.

[0036] Furthermore, computer 1000 may be implemented as, for example, a cloud computer. The number of computers 1000 is not limited to one; it may be distributed across two or more computers. In addition to processing on a single processor, it may also be distributed across multiple processors.

[0037] Furthermore, instead of software processing such as the execution of processing programs by a processor, at least one of these processes may be replaced with hardware processing using dedicated circuits such as ASICs (application-specific integrated circuits) or FPGAs (field-programmable gate arrays).

[0038] Figure 4 shows an example of a platform 100 according to the first embodiment. Figure 4 is a side view of the platform 100 as seen from the positive Y-axis direction. The X-axis indicates the direction of travel of the vessel 10. The Y-axis indicates the width direction of the vessel 10. The Z-axis indicates the direction perpendicular to the deck of the vessel 10.

[0039] The platform 100 includes an installation section 108 installed on the deck of the ship 10, a flat floor section 101 for workers to move around on, a handrail 102 with two intermediate rails, an impact-absorbing section 106 installed at the end of the flat floor section 101, an acceleration sensor 103, and a communication unit 104. Note that the arrangement and number of intermediate rails are not limited to those shown in this figure.

[0040] Furthermore, the platform 100 is equipped with a plurality of extendable cylinders connected to the flat floor section 101 and the mounting section 108. It is preferable to provide a rotatable joint section at the connection point between the flat floor section 101 and the mounting section 108 and each cylinder. For example, a spherical bearing may be used as the rotatable joint section. A spherical bearing is a bearing composed of an inner ring and an outer ring with spherical contact surfaces, and has a structure that allows angle adjustment between the shaft passing through the shaft hole of the inner ring and the mounting section of the outer ring. Therefore, angle deviations and eccentricities that occur between the shaft and the mounting section can be automatically adjusted. Alternatively, a universal joint may be used. A universal joint is a shaft coupling that connects two angled shafts by interlocking them. With the above joint sections, power can be transmitted smoothly even if the angles between the cylinders change, so that the swaying of the complex vessel 10 and swaying caused by collisions with floating structures can be absorbed.

[0041] Ball joints may also be used. A ball joint is a shaft coupling consisting of a spherical movable part and a socket that holds it, enabling rotation and tilting of multiple axes. There is no limit to the number of connection points where spherical bearings, etc., are installed, and spherical bearings, universal joints, and ball joints may be installed in combination.

[0042] The platform 100 of this embodiment is equipped with, for example, seven cylinders to absorb the six-axis motion of the ship 10. The six axes refer to, for example, reciprocating motion in the X-axis direction, reciprocating motion in the Y-axis direction, reciprocating motion in the Z-axis direction, rotational motion around the X-axis, rotational motion around the Y-axis, and rotational motion around the Z-axis. In the case of the ship 10, these are called SURGE, SWAY, HEAVE, ROLL, PITCH, and YAW, respectively. Furthermore, the motions of ROLL, PITCH, and YAW can be absorbed even more efficiently by using the spherical bearings mentioned above. Note that the number of cylinders is not limited to seven and various variations are possible.

[0043] Note that this figure is a side view, and therefore only the three cylinders are shown. The three cylinders are the front left cylinder 112, the center left cylinder 122, and the rear left cylinder 132.

[0044] The front end of the cylinder name corresponds to the front side of the vessel 10, and the rear end of the cylinder name corresponds to the rear side of the vessel 10. The left and right sides of the cylinder name correspond to the left and right sides as viewed from the positive direction of the X-axis, which represents the movement of the vessel 10.

[0045] The front left cylinder 112, the center left cylinder 122, and the rear left cylinder 132 may each have accumulators 113, 123, and 133, respectively. An accumulator is a device used in hydraulic and pneumatic fluid equipment, and it stores high-pressure fluid that is supplied for work using the pressure of the fluid. For example, an accumulator 113, etc., may be filled with a predetermined gas pressure (about 80% of the operating pressure).

[0046] By connecting to the hydraulic lines of each cylinder, the accumulator 113 stores oil when the hydraulic pump pressure is high and releases it when it drops. If the load on each cylinder suddenly increases, the pressure in the hydraulic cylinders inside the cylinders rises, so the accumulator 113 absorbs some of the oil to mitigate the pressure spike. On the other hand, if the load suddenly decreases, oil is released from the accumulator 113 to mitigate the pressure drop. By providing the accumulator 113, the operational responsiveness of each cylinder can be improved. In addition, the cylinder operation can be made smoother and the load on the hydraulic pump can be reduced.

[0047] The front left cylinder 112, the central left cylinder 122, the rear left cylinder 132, etc., are each independently extendable and retractable.

[0048] Next, we will explain the method for controlling the extension and retraction of each cylinder. For example, when controlling each cylinder hydraulically, a linear encoder or potentiometer-type position sensor is installed on each cylinder to detect the amount of extension and retraction of each cylinder. This allows for the detection of the current extension and retraction stroke position of each cylinder. In addition, pressure sensors or load sensors may be installed on each cylinder to understand the load applied to the tip of each cylinder and the pressure of the hydraulic system. This allows for real-time correction in response to waves, load fluctuations, etc. The various sensors are installed, for example, near the center of each cylinder. There are no limitations on the mounting position or number of sensors.

[0049] Furthermore, each cylinder is equipped with an electromagnetic proportional valve or a servo valve, which adjusts the oil flow rate and pressure based on a control signal from the operation control unit 40.

[0050] The various sensors, electromagnetic proportional valves, servo valves, etc. of each cylinder are connected to the operation control unit 40 via wires so that they can communicate with it. However, the connection is not limited to wired connections and may also be made wirelessly.

[0051] Information from various sensors in each cylinder, as well as information from the acceleration sensor 103 installed on the flat floor section 101, are sent to the operation control unit 40.

[0052] The operation control unit 40 analyzes various information from the platform 100 and sends control signals to the platform 100 to control each cylinder. Alternatively, the operation control unit 40 may send control signals via the drive control unit 30.

[0053] For example, the operation control unit 40 generates a control signal by feedback control of the difference (deviation) between the value measured by the position sensor of each cylinder and the target value. Furthermore, by applying PID (Proportional-Integral-Derivative) control or model predictive control, smooth and stable extension and retraction of the cylinders can be achieved.

[0054] Furthermore, to ensure safety, features such as overpressure prevention using relief valves and fail-safe functions for abnormal sensor signals may be incorporated.

[0055] The flatbed section 101 is a passageway for workers and others to move between the ship 10 and the floating structure. The flatbed section 101 is made of, for example, stainless steel, steel, aluminum alloy, fiber-reinforced plastic, etc. The shape of the flatbed section 101 is, for example, rectangular. The shape and material of the flatbed section 101 are not limited to this figure. Any shape and material is acceptable as long as it can withstand collisions with the floating structure and withstand the movement load of workers. In addition, in order to reduce the weight of the ship 10 and platform 100, additional processing such as cutting out a curved shape from the long side of a rectangular steel plate may be performed.

[0056] Furthermore, it is advisable to provide a handrail 102 above the flat floor 101 for workers to hold onto when moving. The handrail 102 can be made of, for example, stainless steel, steel, aluminum alloy, fiber-reinforced plastic, etc.

[0057] Furthermore, the flatbed section 101 has an impact-absorbing section 106 at its tip that absorbs the impact when it comes into contact with a floating structure.

[0058] The shock-absorbing section 106 is a fender (fendering material) provided at the tip of the flatbed section 101 that contacts the water structure and absorbs various impacts. The shock-absorbing section 106 is preferably shaped like a rectangular prism or a truncated square pyramid, which has a large contact area with the water structure. The shape and material of the shock-absorbing section 106 are not particularly limited, and a desired shape and material can be selected considering the contact area with the water structure.

[0059] The impact-absorbing section 106 may have an elastic member or damper at the contact point with the floating structure. The elastic member may be made of rubber, for example. Since it is expected to be used under sunlight at sea, the rubber preferably has water resistance, light resistance, weather resistance, abrasion resistance, etc., and may be made of ethylene propylene diene rubber, chloroprene rubber, polyurethane elastomer, etc. The damper may be an oil damper that absorbs impact energy with hydraulic resistance, or an air spring damper that uses an air spring.

[0060] The mounting section 108 is a component for installing and fixing the platform 100 to the deck of the ship 10. In this figure, the mounting section 108 has a metal base that can be attached to and removed from the deck, and each cylinder is connected to it. The presence of a base in the mounting section 108 makes it easy to transport and install the platform 100 as a single unit on the deck of the ship 10. Alternatively, the mounting section 108 may be made without a base, and each cylinder may be connected to the deck. In this case, the connection point of each cylinder becomes the mounting section 108.

[0061] The acceleration sensor 103 is a sensor that detects the acceleration of the movement of the flat floor section 101, and is installed on the flat floor section 101. The communication unit 104 transmits information from the acceleration sensor 103 to an external device. The communication method may be wireless or wired. For example, the communication unit 104 may transmit information from the acceleration sensor 103 to the drive control unit 30 or the operation control unit 40 via wired communication. The communication unit 104 may also transmit information from the acceleration sensor 103 to the drive control unit 30 or the operation control unit 40 via wireless communication.

[0062] The acceleration information of the flatbed section 101 is used, for example, as information for controlling the extension and retraction of each cylinder.

[0063] Although the above example describes the extension and retraction of each cylinder by hydraulics, it is also possible to drive them with motors. In this case, it is not necessary to install an accumulator. Furthermore, the number of acceleration sensors is not limited to this figure and may be multiple, and the mounting positions on the flatbed section 101 are not limited to this figure. The acceleration sensors may also be installed in locations other than the flatbed section 101, for example, on the cylinders or hull.

[0064] With the above configuration, the ship 10 can absorb the rocking motion while in contact with the floating structure. Furthermore, by providing an impact-absorbing section 106 at the tip of the flatbed section 101, and allowing relative movement while the impact-absorbing section 106 remains in contact with the floating structure, the safety of the workers' movement and the continuity of work can be ensured.

[0065] Figure 5 is a rear view of the platform 100 according to the first embodiment. This figure is a rear view viewed from the positive X-axis direction.

[0066] The platform 100 has a flat floor section 101, a handrail 102 with two intermediate rails, a mounting section 108, and multiple cylinders. The intermediate rails will not be shown in subsequent drawings.

[0067] The platform 100 of this embodiment has seven cylinders. As this figure is a rear view, five of them are shown. Two cylinders are located behind the five cylinders and are not shown. The six cylinders absorb the oscillations of the ship 10 in six axes caused by waves, for example, in the X-axis and Z-axis directions. Furthermore, by installing one cylinder so as to connect the front left end of the lower surface of the flat floor section 101 and the front right end of the installation section 108, oscillations in the Y-axis direction are also absorbed.

[0068] The multiple cylinders include the central right cylinder 120, the rear right cylinder 130, the central left cylinder 122, the rear left cylinder 132, and the front central first cylinder 114. The rear left cylinder 132, the rear right cylinder 130, and the front central first cylinder 114 each have accumulators 133, 131, and 115, respectively. The accumulators of the central right cylinder 120 and the central left cylinder 122 are hidden behind the cylinders shown in the illustration.

[0069] With the above configuration, the platform 100, having the front-center first cylinder 114, can also absorb the swaying of the ship 10 in the Y-axis direction. Since the impact absorbing section 106 contacts the floating structure, generating impact and repulsive forces in the Y-axis direction, it is preferable to position the front-center first cylinder 114 at the front of the platform 100 rather than at the rear.

[0070] Figure 6 is a top view of the platform 100 according to the first embodiment. The platform 100 has a flat floor section 101, an impact-absorbing section 106 installed at the end of the flat floor section 101, and a plurality of cylinders. As this is a top view, six of the seven cylinders are shown. One cylinder is not shown because it is located on the rear surface of the flat floor section 101.

[0071] The six cylinders are the front right cylinder 110, the front left cylinder 112, the center right cylinder 120, the center left cylinder 122, the rear right cylinder 130, and the rear left cylinder 132. The center right cylinder 120 is positioned further inward in the Y-axis direction of the flatbed section 101 than the front right cylinder 110 and the rear right cylinder 130. Similarly, the center left cylinder 122 is positioned further inward in the Y-axis direction of the flatbed section 101 than the front left cylinder 112 and the rear left cylinder 132. This arrangement of the cylinders prevents contact or collision between them even when they move or extend / contract.

[0072] The central left cylinder 122 may be positioned so as to be aligned with the front left cylinder 112 and the rear left cylinder 132 on the X-axis. The central right cylinder 120 may be positioned so as to be aligned with the front right cylinder 110 and the rear right cylinder 130 on the X-axis.

[0073] Furthermore, a fitting portion may be provided at the tip of the shock-absorbing portion 106 to engage with and contact the ladder of the offshore wind power generation equipment 20. The fitting portion is, for example, the convex shape at the center of the tip of the shock-absorbing portion 106 in this figure, and this convex shape engages between the two support columns of the ladder. This makes the contact between the offshore wind power generation equipment 20 and the ladder more secure.

[0074] Figures 7 to 9 show an image of the operation of the platform 100 according to the first embodiment. Figure 7 is an image of the moment when the ship 10 approaches the offshore wind power generation facility 20 and the impact absorbing section 106 of the platform 100 comes into contact with the ladder of the offshore wind power generation facility 20.

[0075] Since the shock-absorbing section 106 protrudes forward from the ship 10, the ladder first makes contact with the shock-absorbing section 106. The shock-absorbing section 106 is movable in a position that protrudes forward from the bow 12 of the ship 10. To position the shock-absorbing section 106 forward from the ship 10, for example, the thickness of the elastic member of the shock-absorbing section 106 in the X-axis direction can be adjusted. Alternatively, a part of the installation section 108 of the platform 100 may be fixed so that it protrudes in front of the bow 12. Furthermore, since the platform 100 allows the shock-absorbing section 106 and the flat floor section 101 to move in the positive and negative X-axis directions by extending or retracting the shaft, the movement control may be performed to move the shock-absorbing section 106, etc., forward from the ship 10. Movement control is performed based on instructions from the operation control unit 40.

[0076] The bow 12 is, for example, a fender (fendering material) that protrudes in the direction of travel of the vessel 10, and is formed of a cushioning material such as rubber. The bow 12 may have a large cross-sectional area of ​​the contact surface, such as a rectangular prism or a truncated square pyramid, in order to make stable contact with the offshore wind power generation equipment 20. Alternatively, a damper having the shape of a rectangular prism or a truncated square pyramid may be installed on the bow 12.

[0077] As the vessel 10 approaches the ladder of the offshore wind power generation equipment 20, the shock-absorbing section 106 comes into contact with the ladder, and the platform 100 absorbs the impact. Next, the bow 12 of the vessel 10 comes into contact with the ladder. At this time, after the shock-absorbing section 106 comes into contact with the ladder of the offshore wind power generation equipment 20 at a position protruding beyond the bow of the vessel 10, the shock-absorbing section 106 and the flatbed section 101 move in the negative direction of the X-axis by the extension and retraction of multiple cylinders so that the bow of the vessel 10 can come into contact with the ladder of the offshore wind power generation equipment 20.

[0078] If the ship 10 is maneuvered in such a way that the platform 100 is pressed against the offshore wind power generation equipment 20, the shock absorption section 106 and the bow 12 will both be in contact with the ladder, and the platform 100 will maintain the posture of the flatbed section 101 by absorbing mainly Z-axis sway through the damping of multiple cylinders.

[0079] As described above, since the bow 12 collides with the offshore wind power generation equipment 20 after the impact absorption using the impact absorbing section 106, it is possible to prevent the ship 10 from being subjected to a sudden, all-at-once impact. In addition, since both the impact absorbing section 106 and the bow 12 come into contact with the offshore wind power generation equipment 20, the stability of the ship 10 and the platform 100 against wave motion can be improved.

[0080] Figure 8 shows the state in which wave movement occurs in the Z-axis direction, causing the ship 10 to move downward (negative Z-axis direction).

[0081] Even when the ship 10 is rocking, the position of the flatbed section 101 of the platform 100 is kept in approximately the same position as in Figure 7 by controlling the extension and retraction of each cylinder of the platform 100. In addition, the shock-absorbing section 106 remains in approximately the same position as in Figure 7, in contact with the ladder of the offshore wind power generation equipment 20.

[0082] Figure 9 shows the state after the ship 10 has moved further downward (in the negative direction of the Z axis) from the state shown in Figure 8. The platform 100 is equipped with a flat floor section 101 having a roughly rectangular shape. In this figure, the flat floor section 101 has its long sides cut inward in order to reduce its weight. The roughly rectangular shape can be any shape suitable for a passage that people can walk across. For example, it may be a rectangle, trapezoid, parallelogram, quadrilateral with four vertices connected by straight or curved lines, elongated polygon, elongated ellipse, etc.

[0083] Platform 100 is equipped with seven cylinders that absorb the six-axis motion of the ship 10. The seven cylinders are a front right cylinder 110 connected near the four corners of the underside of the flat floor section 101, a front left cylinder 112, a rear right cylinder 130, a rear left cylinder 132, a front central first cylinder 114 connecting the lower part of the front right cylinder 110 and the upper part of the front left cylinder 112, a central right cylinder 120 connecting the lower part of the front right cylinder 110 and the upper part of the rear right cylinder 130, and a central left cylinder 122 connecting the lower part of the front left cylinder 112 and the upper part of the rear left cylinder 132. Furthermore, universal joints, ball joints, spherical bearings, etc., may be used at the connection points between each cylinder and the flat floor section 101 and the mounting section 108. For example, using a ball joint type universal joint allows for more efficient absorption of the six-axis motion at the connection points between each cylinder and the mounting section 108, etc.

[0084] The front right cylinder 110, front center first cylinder 114, front left cylinder 112, center right cylinder 120, center left cylinder 122, rear right cylinder 130, and rear left cylinder 132 of platform 100 are further extended compared to Figure 8.

[0085] By controlling the extension and retraction of each cylinder, the position of the flat floor section 101 of the platform 100 is maintained in approximately the same position as in Figure 8. Furthermore, the impact-absorbing section 106 remains in approximately the same position as in Figure 8, in contact with the ladder of the offshore wind power generation equipment 20.

[0086] As described above, the platform 100 can absorb the swaying of the ship 10 and the impact caused by the collision between the shock-absorbing section 106 and the offshore wind power generation equipment 20.

[0087] Furthermore, by controlling the extension and retraction of each cylinder, the flatbed section 101 can be kept in almost the same position while remaining in contact with the offshore wind power generation equipment 20. This enhances the safety of workers when moving from the ship 10 to the offshore wind power generation equipment 20.

[0088] Furthermore, by providing the first cylinder 114 at the front center of the platform 100, the impact absorption force in the Y-axis direction can be increased. In addition, by connecting each cylinder to the connection points of the flat floor section 101 and the installation section 108 with universal joints, ball joints, spherical bearings, etc., and increasing the flexibility of the movement direction of the connection points, the effects of waves swaying in complex directions can be flexibly absorbed.

[0089] In this diagram, the front-center first cylinder 114 connects the upper part of the front-left cylinder 112 and the lower part of the front-right cylinder 110. However, it may also connect the lower part of the front-left cylinder 112 and the upper part of the front-right cylinder 110. In this case, the cylinder is called the front-center second cylinder. The front-center first cylinder 114 and the front-center second cylinder are sometimes collectively referred to as the front-center cylinder.

[0090] Furthermore, the front-center first cylinder 114 may connect the upper part of the front-left cylinder 112 to the front right portion of the mounting section 108. The front-center second cylinder may connect the upper part of the front-right cylinder 110 to the front left portion of the mounting section 108. In addition, the connection of cylinders in this disclosure includes not only cases where the ends of the cylinders are connected to each other, but also cases where the ends of two cylinders are connected to the flat floor section 101 or the mounting section 108, respectively, and the two connection portions on the flat floor section 101 or the mounting section 108 are located in close proximity to each other.

[0091] Figure 10 is a flowchart relating to the operation control of the platform system 300 according to the first embodiment. The operation control unit 40 of the platform system 300 controls the platform 100 and the drive control unit 30 to control the operation of the platform 100.

[0092] The platform 100 includes a flat floor section 101 for moving people while in contact with a floating structure, an installation section 108 for installing the platform on the deck of the ship 10, and a number of extendable cylinders that connect the flat floor section 101 and the installation section 108 and absorb the six-axis sway of the ship 10.

[0093] The operation control unit 40 performs drive control processing to extend and retract a plurality of cylinders in the platform 100 in response to the rocking of the vessel 10, so as to maintain the flatbed section 101 in a predetermined position. The predetermined position is, for example, a target position on a ladder of a water structure, and it is preferable to maintain a horizontal state. Alternatively, the predetermined position may be specified by the operator of the platform system 300 from the operation control unit 40.

[0094] The operation control unit 40 may, for example, control the extension and retraction of multiple cylinders to maintain the flat floor 101 in a predetermined position based on information from an acceleration sensor 103 received from a communication unit 104 installed on the flat floor 101. Alternatively, the operation control unit 40 may receive information from various sensors, such as position sensors installed on each cylinder, via the drive control unit 30 and control the extension and retraction of multiple cylinders.

[0095] Next, the operation control of the platform system 300 will be explained. Based on the operator's instructions, the operation control unit 40 starts the platform system 300 (S100). The system is started before the ship 10 makes contact with the water structure in order to ensure safety on the deck of the ship 10. Various sensors, such as the acceleration sensor 103 and position sensors, are also started.

[0096] The control unit 40 continuously acquires acceleration information of the flatbed section 101 from the acceleration sensor 103 via the communication unit 104 installed on the flatbed section 101 at predetermined time intervals (S110). The time interval should be determined considering the timing and magnitude of the ship's movement, and taking into account the accuracy required for cylinder control. The control unit 40 also receives measurement values ​​from various sensors installed on each cylinder, etc., at predetermined time intervals. The time interval can be set considering the accuracy required for cylinder control.

[0097] The operation control unit 40 determines the extension and retraction amount of each cylinder based on information from the acceleration sensor 103 and information from various sensors such as position sensors installed on each cylinder. The operation control unit 40 generates control information related to the extension and retraction amount of the cylinders by performing at least one of the following processes: for example, feedback control, PID control, or AI-based prediction processing, and transmits it to the platform 100 and the drive control unit 30.

[0098] The drive control unit 30 receives control signals from the operation control unit 40 regarding the extension and retraction amount of each cylinder, and drives the hydraulic pump to control the hydraulic pressure of each cylinder (S120).

[0099] Platform 100 receives control signals from the operation control unit 40. The electromagnetic proportional valves and servo valves in each cylinder adjust the oil flow rate and pressure based on the control signals from the operation control unit 40. As a result, each cylinder extends and retracts in accordance with the hydraulic pressure sent from the drive control unit 30 (S130).

[0100] If there is an termination signal from the operation control unit 40 regarding the driving of the platform system, the operation control is terminated (S140-Yes). On the other hand, if there is no termination signal, Repeat the process from S110 to S130 (S140 - No).

[0101] Through the operation control of the platform system 300 described above, the flatbed section 101 is held in a predetermined position after the system is started. Even after the impact-absorbing section 106 of the flatbed section 101 comes into contact with the water structure, each cylinder repeatedly extends and retracts to absorb the rocking of the ship and the rocking caused by the collision with the water structure, thereby maintaining the position of the flatbed section 101 relative to the water structure. Therefore, workers can easily and safely move from the ship 10 to the water structure.

[0102] In the first embodiment, the explanation mainly focused on the case where platform 100a is installed on the forward deck of the vessel 10, but platform 100b installed on the side deck of the vessel 10 operates similarly. For example, if elastic members such as fenders are provided on the side of the vessel 10, they can serve as a substitute for the bow 12, and thus the same operation control as in the case of platform 100a can be performed. If there are no elastic members such as fenders on the side of the vessel 10, the impact absorbing part 106 of platform 100b will absorb the impact caused by collision with a floating structure.

[0103] [Second Embodiment] In the second embodiment, an example is described in which a platform 200 of a different type from the platform 100 of the first embodiment is used.

[0104] Figure 11 shows a top view of the platform 200 according to the second embodiment. Figure 11 is a top view of the platform 200 as seen from the negative Z-axis direction.

[0105] The platform 200 includes a flat floor section 201 having a roughly rectangular shape, a handrail 202, impact-absorbing sections 206 installed at the ends of the flat floor section 201, a front right lateral cylinder 214, a central right lateral cylinder 220, a central left lateral cylinder 222, and the like.

[0106] Platform 200 has six cylinders, but only three are shown in this figure as it is a top view. The remaining three cylinders are parallel to the Z-axis and are therefore not shown. In addition, the front right lateral cylinder 214, the center right lateral cylinder 220, and the center left lateral cylinder 222 each have accumulators 215, 221, and 223, respectively.

[0107] Figure 12 shows a front view of the platform 200 according to the second embodiment. Figure 12 is a front view taken from the negative X-axis direction.

[0108] The platform 200 is equipped with a front-end right vertical cylinder 210, a front-end left vertical cylinder 212, a front-end right horizontal cylinder 214, etc., which are connected to the mounting section 208. Although the platform 200 has six cylinders in total, only three are shown in this figure as it is a front view. The remaining three are located on the rear surface of the cylinders shown and are not depicted.

[0109] The front right vertical cylinder 210, the front left vertical cylinder 212, and the front right horizontal cylinder 214 each have an accumulator 211, an accumulator 213, and an accumulator 215, respectively. The front right vertical cylinder 210 and the front left vertical cylinder 212 are installed perpendicular to the mounting section 208.

[0110] Furthermore, three support columns are installed on the upper surface of the flat floor section 201. The flat floor section 201 moves simultaneously by moving these support columns up and down. As this is a front view, only the front right vertical support column 250 and the front left vertical support column 252 are shown. The remaining support column is located on the rear surface of the front right vertical support column 250 and is not shown. Each support column has an L-shape at the top that serves as a connection point with the cylinder, but the shape of the connection point is not limited to this figure; any shape that allows connection at the top of the support column is acceptable.

[0111] The front right vertical cylinder 210 is connected at its lower end to the mounting section 208 and at its upper end to the front right vertical support column 250. The front left vertical cylinder 212 is connected at its lower end to the mounting section 208 and at its upper end to the front left vertical support column 252.

[0112] The front right lateral cylinder 214 has one end connected to the mounting section 208 and the other end connected to the lower part of the front right vertical support column 250. The front right lateral cylinder 214 is extendable and retractable mainly to accommodate swaying in the Y-axis direction.

[0113] With the above cylinder configuration, the oscillation of the ship 10 in the Y-axis direction can also be absorbed. By providing three support columns on the upper surface of the flat floor section 201, the total number of cylinders can be reduced by one compared to the platform 100 of the first embodiment, thereby reducing the burden of cylinder extension and retraction control and the burden of maintenance.

[0114] Figure 13 shows a rear view of the platform according to the second embodiment. This figure is a rear view of the platform 200 as seen from the positive X-axis direction.

[0115] The platform 200 is equipped with a front left vertical cylinder 212, a central left horizontal cylinder 222, a rear right vertical cylinder 230, a central right horizontal cylinder 220, and a front right horizontal cylinder 214, all connected to the mounting section 208. Since this is a rear view, only five cylinders are shown. The remaining front right vertical cylinder 210 is hidden behind the rear surface of the rear right vertical cylinder 230 in the positive X-axis direction. The upper part of the rear right vertical cylinder 230 is connected to the rear right vertical support column 254, and the lower part is connected to the mounting section 208. The upper part of the front left vertical cylinder 212 is connected to the front left vertical support column 252, and the lower part is connected to the mounting section 208.

[0116] The front left vertical cylinder 212, the center left horizontal cylinder 222, the rear right vertical cylinder 230, the center right horizontal cylinder 220, and the front right horizontal cylinder 214 each have an accumulator 213 (not shown as it is located on the rear surface), an accumulator 223, an accumulator 231, an accumulator 221, and an accumulator 215, respectively.

[0117] Figures 14 to 16 show an image of the operation of the platform 200 according to the second embodiment. Figure 14 is an image of the moment when the ship 10 approaches the offshore wind power generation equipment 20 and the impact absorbing section 206 of the platform 200 comes into contact with the ladder of the offshore wind power generation equipment 20. The flat floor section 201 of the platform 200, which has a roughly rectangular shape, is located near the bottom of the installation section 208.

[0118] Figure 15 shows the ship 10 in Figure 14 moving in the negative Z-axis direction due to wave motion, etc. In this figure, the flatbed section 201 is further away from the lower part of the mounting section 208 compared to Figure 14. The front right vertical cylinder 210, the front left vertical cylinder 212, and the rear right vertical cylinder 230 are extended compared to Figure 14, pushing the flatbed section 201 upwards.

[0119] Figure 16 shows the state in which the ship 10 has moved further in the negative Z-axis direction due to wave motion, etc., from the state in Figure 15. Here, the positional and connection relationships of the six cylinders of the platform 200 will be explained. The six cylinders consist of the front right vertical cylinder 210, the front left vertical cylinder 212, and the rear right vertical cylinder 230, which are connected to the upper parts of three support columns (front right vertical column 250, front left vertical column 252, and rear right vertical column 254) that are installed vertically from the upper surface of the flat floor section 201, respectively; the central right horizontal cylinder 220 that connects the installation section 208 to the front right side of the flat floor section 201; the central left horizontal cylinder 222 that connects the installation section 208 to the front left side of the flat floor section 201; and the front right horizontal cylinder 214 that connects the installation section 208 to the lower part of the front right vertical column 250.

[0120] The upper parts of the three support columns, the front right vertical support column 250, the front left vertical support column 252, and the rear right vertical support column 254, are L-shaped and connected to the upper parts of the front right vertical cylinder 210, the front left vertical cylinder 212, and the rear right vertical cylinder 230. The lower parts of the front right vertical cylinder 210, the front left vertical cylinder 212, and the rear right vertical cylinder 230 are connected to the installation section 208.

[0121] Furthermore, the front side of the flatbed section 201 and the mounting section 208 are connected by a central right lateral cylinder 220 and a central left lateral cylinder 222. In this embodiment, the mounting section 208 has legs perpendicular to the deck, and the central right lateral cylinder 220 and the central left lateral cylinder 222 are connected to the legs, respectively.

[0122] The lower part of the front right vertical support column 250 and the installation section 208 are connected by the front right horizontal cylinder 214. Alternatively, instead of connecting the lower part of the front right vertical support column 250, the front right horizontal cylinder 214 may be connected to the right side of the flat floor section 201.

[0123] The front right vertical cylinder 210, the front left vertical cylinder 212, and the rear right vertical cylinder 230 extend and retract to absorb vibrations mainly in the Z-axis direction. The central right horizontal cylinder 220 and the central left horizontal cylinder 222 extend and retract to absorb vibrations mainly in the X-axis direction. The front right horizontal cylinder 214 extends and retracts to absorb vibrations mainly in the Y-axis direction. Note that because the impact absorption section 206 comes into contact with the floating structure, generating impact and repulsive forces in the Y-axis direction, the front right horizontal cylinder 214 should be located in front of the platform 200 rather than behind it.

[0124] Furthermore, a freely rotatable joint is used to connect the upper and lower parts of each cylinder. For example, a spherical bearing may be used. Alternatively, a universal joint or ball joint may be used. There is no limit to the number of connection points where spherical bearings, etc., are installed, and spherical bearings, universal joints, and ball joints may be installed in combination. By using such joints, the mobility at the connection points is increased, and vibrations in the six axes can be absorbed more efficiently.

[0125] Note that the lengths of the front right vertical support 250, the front left vertical support 252, and the rear right vertical support 254 are not limited to those shown in this figure and may be other lengths. They can be changed considering factors such as ease of boarding for workers and space relative to other structures on the deck of the ship 10. It is also possible to change the front right horizontal cylinder 214 to a front left horizontal cylinder and install it on the opposite side of the flat floor section 201 in the negative Y-axis direction. In this case, the lower part of the front left vertical support 252 and the installation section 208 are connected by the front left horizontal cylinder.

[0126] [Third Embodiment] The third embodiment describes an embodiment that predicts changes in the external environment of the ship 10 and uses that prediction to control the operation of the platform 100. As an example, the embodiment describes a case in which waves that will arrive at the ship 10 in the future are predicted using a wave information acquisition unit installed on the ship 10 that acquires wave information around the ship 10.

[0127] Figure 17 is a schematic diagram showing an example of a platform system 400 according to the third embodiment. The platform system 400 mounted on the ship 10 comprises a platform 100, a drive control unit 30, and an operation control unit 40. Furthermore, the platform system 400 of the third embodiment further comprises an electromagnetic field transmission unit 50 and an electromagnetic field reception unit 60, which are examples of wave information acquisition units.

[0128] The electromagnetic field transmitter 50 and the electromagnetic field receiver 60 are communicatively connected to the operation control unit 40. The operation control unit 40 controls the electromagnetic field transmitter 50 and the electromagnetic field receiver 60. For example, the electromagnetic field transmitter 50 illuminates the front of the ship 10 with radar at the instruction of the operation control unit 40, and the electromagnetic field receiver 60 receives the reflected information. Based on the wave information received by the electromagnetic field receiver 60, the operation control unit 40 analyzes the position and height of the surrounding waves and predicts the waves that will arrive after a predetermined time. As a method for wave prediction, for example, techniques described in US20180081028A1, US20180081054A1, WO2018125324A2, etc., may be used.

[0129] In addition to radar, LiDAR or other technologies may be used to acquire wave information from outside the vessel 10. Wave information may also be acquired using a stereo camera without using an electromagnetic field.

[0130] Figure 18 is a flowchart relating to the operation control of the platform system 400 according to the third embodiment. The operation control unit 40 of the platform system 400 controls the platform 100a and the drive control unit 30 to control the operation of the platform 100. The operation control unit 40 is communicatively connected to the platform 100a, the drive control unit 30, the electromagnetic field transmitter 50, and the electromagnetic field receiver 60, and is capable of receiving information from various sensors and transmitting control signals.

[0131] The operator starts the platform system 400 (S200). The electromagnetic field transmitter 50 and electromagnetic field receiver 60 start up simultaneously with the startup of the platform system 400. An acceleration sensor (not shown) and various other sensors also start up.

[0132] The operation control unit 40 acquires information from acceleration sensors installed on the flat floor section 101, information from various sensors such as position sensors installed on each cylinder, and wave information received by the electromagnetic field receiving unit 60 (S210). The operation control unit 40 may acquire information from the various sensors directly from the platform 100a, or it may acquire it via the drive control unit 30.

[0133] The operation control unit 40 uses wave information to perform prediction processing for incoming waves (S220). The incoming waves are those that will arrive after a predetermined time using the wave information.

[0134] The wave prediction process will now be explained. The operation control unit 40 controls the electromagnetic field transmitter 50 and electromagnetic field receiver 60 installed on the ship 10 to acquire wave information. For example, it observes the wave conditions several hundred meters ahead in real time and acquires wave height, wave direction, period, etc. as time-series data. The acquired wave information is decomposed into individual wave components that will reach the ship in the future by spectral analysis or waveform decomposition processing.

[0135] Based on wave components, the pitch, roll, and heave motions of the vessel 10 are predicted for approximately 30 to 180 seconds ahead using models such as the Cummins equation. This prediction process is updated every few seconds, sequentially generating motion vectors on the time axis from the current time to the future time. Alternatively, instead of or in addition to models such as the Cummins equation, wave information may be continuously acquired and motion vectors generated by AI.

[0136] Using the predicted hull motion information, the future position coordinates and attitude angles of the installation section 108 of the platform 100 are calculated.

[0137] Based on the calculated future position coordinates and attitude angles of the installation section 108, etc., the operation control unit 40 controls the extension and retraction of multiple cylinders of the platform 100 so that the flat floor section 101, etc. remain in a predetermined position before the wave arrival time predicted based on wave information. The extension and retraction control is performed by the drive control unit 30 controlling the hydraulic pressure of each cylinder in response to a control instruction from the operation control unit 40 (S230).

[0138] Platform 100a receives control signals from the operation control unit 40. The electromagnetic proportional valves and servo valves in each cylinder adjust the oil flow rate and pressure based on the control signals from the operation control unit 40. As a result, each cylinder extends and retracts in accordance with the hydraulic pressure sent from the drive control unit 30 (S240).

[0139] If there is a termination signal from the operation control unit 40 regarding the driving of the platform system, the operation control is terminated (S250-Yes). On the other hand, if there is no termination signal, the processing of S210 to S240 is repeated (S250-No).

[0140] As described above, the stability of platform 100 can be improved by predictive control processing that controls the expansion and contraction of multiple cylinders of platform 100 based on predicted wave information.

[0141] By adding the wave prediction processing described above, the position and attitude of the flatbed section 101 of the platform 100 can be further stabilized against the six-axis oscillation of the ship 10 caused by waves. In addition, contact stability with the floating structure can be improved, ensuring the safety of workers' movement.

[0142] [Fourth Embodiment] In the fourth embodiment, another example of the cylinder arrangement in the platform 100 of the first embodiment is described.

[0143] Figure 19 shows a first example of the cylinder arrangement of platform 500 according to the fourth embodiment. Since this figure is a conceptual diagram for explaining the cylinder arrangement, the detailed structure of platform 500 is not shown.

[0144] In this figure, the arrangement of the first central front cylinder 114 of the platform 100 is different from that of the first embodiment. In Figure 19(a), the second central front cylinder 140 connects the upper part of the right front cylinder 110 and the lower part of the left front cylinder 112.

[0145] In Figure 19(b), the central right cylinder 142 further connects the upper part of the central right cylinder 120 and the lower part of the central left cylinder 122. Alternatively, instead of the front central second cylinder 140 and the central right cylinder 142, a central left cylinder (not shown) may be provided that connects the lower part of the front central first cylinder 114 and the upper part of the central left cylinder 122.

[0146] With the cylinder arrangement described above, the platform strength can be further increased compared to the platform 100 of the first embodiment, and the motion of the ship 10 can be effectively absorbed. For example, by adding the central right-side cylinder 142, stability against roll and yaw can be improved. In addition, by adding the central right-side cylinder 142, the load on each of the surrounding cylinders can be reduced.

[0147] Figure 20 shows a second example of the cylinder arrangement of the platform 500 according to the fourth embodiment. Since this figure is a conceptual diagram for explaining the cylinder arrangement, the detailed structure of the platform 500 is not shown.

[0148] In Figure 20(a), in addition to the platform 500 in Figure 19(a), a rear-end central cylinder 144 is provided. The rear-end central cylinder 144 connects the upper part of the rear-end right cylinder 130 and the lower part of the rear-end left cylinder 132.

[0149] In Figure 20(b), in addition to the platform 500 in Figure 19(b), a rear-end central cylinder 144 is provided.

[0150] With the cylinder arrangement described above, the platform strength can be further increased compared to the platform 100 of the first embodiment, and the motion of the vessel 10 can be effectively absorbed. For example, by adding a rear-end central cylinder 144, or by adding a central right cylinder 142 and a rear-end central cylinder 144, stability against ROLL and YAW can be improved. In addition, by adding a rear-end central cylinder 144, or by adding a central right cylinder 142 and a rear-end central cylinder 144, the load on each of the surrounding cylinders can be reduced.

[0151] [Fifth Embodiment] In the fifth embodiment, another example of the cylinder arrangement in the platform 100 of the first embodiment is described.

[0152] Figure 21 shows an example of the cylinder arrangement of platform 600 according to the fifth embodiment. This figure is a conceptual diagram for explaining the cylinder arrangement, and therefore the detailed structure of platform 600 is not shown.

[0153] In Figure 21(a), the front center first cylinder 114 of the platform 100 in the first embodiment is replaced with a front center right cylinder 151 and a front center left cylinder 152. The front center right cylinder 151 connects the upper part of the front center right cylinder 110 to the mounting part 108 (not shown). The connection point with the mounting part 108 is near the center between the lower part of the front center right cylinder 110 and the lower part of the front center left cylinder 112.

[0154] Furthermore, the front-center left cylinder 152 connects the upper part of the front-left cylinder 112 to the mounting section 108 (not shown). The connection point with the mounting section 108 is near the center between the lower part of the front-right cylinder 110 and the lower part of the front-left cylinder 112.

[0155] In Figure 21(b), in addition to those in Figure 21(a), a rear-end center right cylinder 153 and a rear-end center left cylinder 154 are also provided.

[0156] The rear-center right cylinder 153 connects the upper part of the rear-center right cylinder 130 to the mounting part 108 (not shown). The connection point with the mounting part 108 is near the center between the lower part of the rear-center right cylinder 130 and the lower part of the rear-center left cylinder 132. Similarly, the rear-center left cylinder 154 connects the upper part of the rear-center left cylinder 132 to the mounting part 108 (not shown). The connection point with the mounting part 108 is near the center between the lower part of the rear-center right cylinder 130 and the lower part of the rear-center left cylinder 132.

[0157] In Figure 21(c), in addition to those in Figure 21(a), a central right cylinder 155 and a central left cylinder 156 are also provided.

[0158] The central right cylinder 155 connects the upper part of the central right cylinder 120 to the mounting part 108. The connection point with the mounting part 108 is near the center between the lower part of the central right cylinder 120 and the lower part of the central left cylinder 122. The central left cylinder 156 connects the upper part of the central left cylinder 122 to the mounting part 108. The connection point with the mounting part 108 is near the center between the lower part of the central right cylinder 120 and the lower part of the central left cylinder 122.

[0159] In Figure 21(d), in addition to those in Figure 21(c), a rear-end central right cylinder 153 and a central left cylinder 156 are also provided.

[0160] With the cylinder arrangement described above, the platform's strength can be further increased compared to the platform 100 of the first embodiment, allowing it to absorb complex vibrations in the six axial directions. Furthermore, while the front-center second cylinder 140, the central right cylinder 142, and the rear-center cylinder 144 in Figures 19 and 20 are connected to the surrounding cylinders at an angle, the strength can be further increased by adding them in units of two symmetrically arranged cylinders, as shown in Figure 21. This also reduces the load imbalance caused by the left-right asymmetry on the surrounding cylinders.

[0161] [Sixth Embodiment] In the first embodiment, the case was mainly described in which the impact-absorbing section 106 installed at the tip of the flat floor section 101 of the platform 100 comes into contact with the offshore wind power generation equipment 20, and then the bow 12 of the ship 10 comes into contact with the offshore wind power generation equipment 20. In the sixth embodiment, an example of the operation of the platform 100 and ship 10 different from that of the first embodiment will be described.

[0162] Figure 22 shows a first example of the operation of the platform 100 according to the sixth embodiment. In this figure, as the ship 10 approaches the offshore wind power generation facility 20, the shock absorber 106 installed at the tip of the flatbed section 101 first comes into contact with the offshore wind power generation facility 20. The platform 100 absorbs shock and motion through the damping of the shock absorber 106, which is movable in a position protruding forward of the bow 12 of the ship 10, and multiple cylinders. At this time, the bow 12 of the ship 10 is not in contact with the offshore wind power generation facility 20, and the flatbed section 101 remains in the target position due to the damping operation of the platform 100, etc.

[0163] The operation of the platform 100 described above is controlled based on instructions from the operation control unit 40.

[0164] The operation of the platform 100 described above allows the flatbed section 101 to remain in the target position, enabling workers to safely move from the flatbed section 101 to the offshore wind power generation equipment 20.

[0165] Figure 23 shows a second example of the operation of the platform 100 according to the sixth embodiment. In this figure, unlike the first embodiment, the shock-absorbing section 106 of the platform 100 is located on the opposite side of the direction of travel (negative X-axis direction) from the bow 12 of the ship 10. The platform 100 can move its flatbed section 101 in the positive and negative X-axis directions, for example, by the extension and retraction of a cylinder. The operation of the platform 100 is controlled based on instructions from the operation control unit 40.

[0166] This figure describes a case in which, after the bow 12 of the ship 10 comes into contact with the offshore wind power generation equipment 20, the impact absorbing section 106 and the flatbed section 101 move from a position behind the bow 12 of the ship 10 to come into contact with the offshore wind power generation equipment 20 by the expansion and contraction of multiple cylinders.

[0167] The bow 12 of the vessel 10 first makes contact with the offshore wind power generation equipment 20 (Figure 20(a)). At this stage, the impact absorbing section 106 of the platform 100 is not in contact with the offshore wind power generation equipment 20.

[0168] Based on instructions from the operation control unit 40, the platform 100 controls the extension and retraction of the cylinders to raise the flat floor section 101 and move it in the direction of travel (positive X-axis direction). The platform 100 also controls the extension and retraction of the cylinders to press the shock-absorbing section 106 against the target position of the offshore wind power generation equipment 20 (Figure 23(b)). The platform 100 absorbs shocks and vibrations through the damping of the shock-absorbing section 106 and the multiple cylinders.

[0169] Next, based on instructions from the control unit 40, the platform 100 extends and retracts its cylinder to push the offshore wind turbine 20 with even greater force, causing the bow 12 of the ship 10 to move away from the offshore wind turbine 20 (Figure 23(c)).

[0170] Alternatively, instead of the operation shown in Figure 23(b), the platform 100 may control the extension and retraction of the cylinder based on instructions from the operation control unit 40 to bring the shock-absorbing part 106 into contact with the target position on the offshore wind power generation equipment 20. In this case, the shock-absorbing part 106 is in contact with the offshore wind power generation equipment 20, and the operation of pressing the shock-absorbing part 106 against the offshore wind power generation equipment 20 by extending and retracting the cylinder, as shown in Figure 23(c), is not performed.

[0171] The operation of the platform 100 described above allows the flatbed section 101 to remain in the target position, enabling workers to safely move from the flatbed section 101 to the offshore wind power generation equipment 20.

[0172] [Differentiation] The embodiments described above describe the case in which a platform 100 is installed on a vessel 10. The embodiments of this disclosure can be applied not only to vessels 10, but also to cases such as when a vehicle is located on land in an area with unstable ground, and people need to move from the swaying vehicle to other facilities. Other facilities are just one example of land structures.

[0173] For example, when a rescue vehicle enters an area with unstable ground due to an earthquake, flood, or landslide, and rescuers need to move from the swaying vehicle to other equipment in an area with elevation differences or ground fluctuations. In such cases, a platform 100 can be installed on the chassis of the rescue vehicle, and a flat floor section 101, which serves as a platform for rescuers to move on, can be supported by a cylinder. The extension and retraction of the cylinder can be controlled to maintain a horizontal position relative to the ground at all times.

[0174] Although the present disclosure has been described in detail above based on its preferred embodiments, the present disclosure is not limited to the above embodiments, and various modifications are possible in accordance with the spirit of the present disclosure, and these modifications are not excluded from the scope of the present disclosure. Furthermore, the present disclosure may be realized by combinations of the above embodiments. [Explanation of Symbols]

[0175] 10: Ship 12: Bow 20: Offshore wind power generation facilities 25: Pier 30: Drive control unit 40: Operation Control Unit 50: Electromagnetic field transmission unit 60: Electromagnetic field receiving unit 100, 100ab, 200, 500, 600: Platform 101, 201: Flat floor section 102: Handrail 103: Accelerometer 104: Communications Department 106, 206: Impact absorption section 108, 208: Installation section 110: Front right cylinder 113, 123, 133, etc.: Accumulator 114: Front center first cylinder 112: Front left cylinder 120: Center right cylinder 122: Center left cylinder 130: Rear right cylinder 132: Rear left cylinder 140: Front center second cylinder 142: Central right cylinder 144: Rear end center cylinder 151: Front center right cylinder 152: Front center left cylinder 153: Rear center right cylinder 154: Rear end center left cylinder 155: Central right cylinder 156: Central left cylinder 210: Front right vertical cylinder 212: Front left vertical cylinder 214: Front right side cylinder 220: Center right side cylinder 222: Center left side cylinder 230: Rear right vertical cylinder 250: Front right vertical support 252: Front end left vertical support 254: Rear end right vertical support 300, 400: Platform Systems 1000: Computer

Claims

1. A platform for people to move from a ship to a floating structure, The platform includes an installation section for installing it on the deck of the ship, A roughly rectangular flat floor section for moving the person, while in contact with the aforementioned floating structure, The installation section and the flat floor section are connected, and the vessel is equipped with multiple extendable cylinders that absorb the six-axis motion of the vessel, The plurality of cylinders include a front-right cylinder, a front-left cylinder, a rear-right cylinder, and a rear-left cylinder, which are connected near the four corners of the lower surface of the flat floor section. A first front-end central cylinder connecting the lower part of the front-end right cylinder and the upper part of the front-end left cylinder, or a second front-end central cylinder connecting the upper part of the front-end right cylinder and the lower part of the front-end left cylinder, A central right cylinder that connects the lower part of the front right cylinder and the upper part of the rear right cylinder, It has a central left cylinder that connects the lower part of the front left cylinder and the upper part of the rear left cylinder, The front right cylinder, the center right cylinder, the rear right cylinder, the front left cylinder, the center left cylinder, and the rear left cylinder absorb the impact in the X-axis direction when they come into contact with the floating structure by damping, and the flat floor portion is pressed against the floating structure by the expansion and contraction of each cylinder. The platform is characterized in that the first cylinder at the front center or the second cylinder at the front center absorbs vibrations in the Y-axis direction of the flat floor portion.

2. A platform for people to move from a ship to a floating structure, The platform includes an installation section for installing it on the deck of the ship, A roughly rectangular flat floor section for moving the person, while in contact with the aforementioned floating structure, The installation section and the flat floor section are connected, and the vessel is equipped with multiple extendable cylinders that absorb the six-axis motion of the vessel, The plurality of cylinders include a front-right cylinder, a front-left cylinder, a rear-right cylinder, and a rear-left cylinder, which are connected near the four corners of the lower surface of the flat floor section. A first front-end central cylinder connecting the lower part of the front-end right cylinder and the upper part of the front-end left cylinder, or a second front-end central cylinder connecting the upper part of the front-end right cylinder and the lower part of the front-end left cylinder, A central right cylinder that connects the lower part of the front right cylinder and the upper part of the rear right cylinder, It has a central left cylinder that connects the lower part of the front left cylinder and the upper part of the rear left cylinder, The front right cylinder, the center right cylinder, the rear right cylinder, the front left cylinder, the center left cylinder, and the rear left cylinder absorb the impact in the Y-axis direction when they come into contact with the floating structure by damping, and the flat floor portion is pressed against the floating structure by the expansion and contraction of each cylinder. The platform is characterized in that the first cylinder or the second cylinder at the front center absorbs vibrations in the X-axis direction of the flat floor.

3. A platform for people to move from a ship to a floating structure, The platform includes an installation section for installing it on the deck of the ship, A roughly rectangular flat floor section for moving the person, while in contact with the aforementioned floating structure, The installation section and the flat floor section are connected, and the vessel is equipped with multiple extendable cylinders that absorb the six-axis motion of the vessel, The plurality of cylinders include a front-right cylinder, a front-left cylinder, a rear-right cylinder, and a rear-left cylinder, which are connected near the four corners of the lower surface of the flat floor section. The front center right cylinder connects the upper part of the front right cylinder to the mounting part, and the front center left cylinder connects the upper part of the front left cylinder to the mounting part, A central right cylinder that connects the lower part of the front right cylinder and the upper part of the rear right cylinder, It has a central left cylinder that connects the lower part of the front left cylinder and the upper part of the rear left cylinder, The front right cylinder, the center right cylinder, the rear right cylinder, the front left cylinder, the center left cylinder, and the rear left cylinder absorb the impact in the X-axis direction when they come into contact with the floating structure by damping, and the flat floor portion is pressed against the floating structure by the expansion and contraction of each cylinder. The platform is characterized in that the front center right cylinder and the front center left cylinder absorb vibrations in the Y-axis direction of the flat floor portion.

4. A platform according to any one of claims 1 to 3, A platform characterized by having a central right cylinder connecting the upper part of the central right cylinder and the lower part of the central left cylinder, or a central left cylinder connecting the lower part of the front central first cylinder and the upper part of the central left cylinder.

5. A platform according to any one of claims 1 to 3, A platform characterized by having a rear-end central cylinder that connects the upper part of the rear-end right cylinder and the lower part of the rear-end left cylinder.

6. A platform according to any one of claims 1 to 3, The platform is characterized in that the flat floor portion has an impact-absorbing portion that absorbs the impact when it comes into contact with the floating structure.

7. The platform according to claim 6, The platform is characterized in that the shock-absorbing section is movable in a position that protrudes forward from the bow of the vessel.

8. The platform according to claim 6, A platform characterized in that, after the bow of the vessel strikes the water structure, the impact-absorbing portion and the flat floor portion move by the extension and contraction of the plurality of cylinders so that the impact-absorbing portion strikes the water structure from a position set back from the bow of the vessel.

9. A platform according to any one of claims 1 to 3, The cylinder has a hydraulic cylinder, A platform characterized in that a hydraulic cylinder is operated by a hydraulic pump installed on the vessel, causing the cylinder to extend and retract.

10. A platform according to any one of claims 1 to 3, The platform is characterized in that the installation section has a base that can be attached to the deck.

11. A platform according to any one of claims 1 to 3, A platform characterized in that it has at least one rotatable joint portion at the connection portion between the plurality of cylinders and the installation portion and the flat floor portion.

12. A platform system comprising a processor for executing a program, a storage device for storing the program, and a platform for moving people from a ship to a floating structure, The aforementioned platform is The platform includes an installation section for installing it on the deck of the ship, A roughly rectangular flat floor section for moving the person, while in contact with the aforementioned floating structure, The installation section and the flat floor section are connected by a plurality of extendable cylinders that absorb the six-axis oscillations of the vessel, The plurality of cylinders include a front-right cylinder, a front-left cylinder, a rear-right cylinder, and a rear-left cylinder, which are connected near the four corners of the lower surface of the flat floor section. A first front-end central cylinder connecting the lower part of the front-end right cylinder and the upper part of the front-end left cylinder, or a second front-end central cylinder connecting the upper part of the front-end right cylinder and the lower part of the front-end left cylinder, A central right cylinder that connects the lower part of the front right cylinder and the upper part of the rear right cylinder, It has a central left cylinder that connects the lower part of the front left cylinder and the upper part of the rear left cylinder, The front right cylinder, the center right cylinder, the rear right cylinder, the front left cylinder, the center left cylinder, and the rear left cylinder absorb the impact in the X-axis direction when they come into contact with the floating structure by damping, and the flat floor portion is pressed against the floating structure by the expansion and contraction of each cylinder. The aforementioned front-end central first cylinder or the front-end central second cylinder absorbs the Y-axis vibration of the flat floor section. The aforementioned processor, A platform system characterized by performing a drive control process that controls the extension and retraction of the plurality of cylinders in response to the rocking of the vessel, so as to maintain the flatbed section in a predetermined position.

13. The platform system according to claim 12, The flat floor section is equipped with an acceleration sensor and a communication unit that transmits information from the acceleration sensor to the outside, In the drive control process, the processor controls the extension and retraction of the plurality of cylinders to hold the flat floor in a predetermined position, based on the information from the acceleration sensor received from the communication unit.

14. The platform system according to claim 12, The vessel is equipped with a wave information acquisition unit that acquires wave information around the vessel, The processor performs wave prediction processing based on the wave information acquired by the wave information acquisition unit to predict waves that will arrive after a predetermined time, A platform system characterized by performing predictive control processing to control the expansion and contraction of the plurality of cylinders based on predicted wave information.

15. A platform system according to claim 14, The platform system is characterized in that the processor controls the extension and retraction of the plurality of cylinders before the wave arrival is predicted based on the wave information.

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