Storage tank transfer system

Abstract

To provide a storage tank handing-over system capable of stably handing over energy even in rough wind and waves.SOLUTION: A storage tank handing-over system 1 is the system to hand over a storage tank ST storing a prescribed energy to an energy collection place 200 on the sea or the land from a floating body 100 floating on the sea. The handing-over system comprises a handing-over mechanism 300 comprising at least one vibration isolator 320 with a moment cancelled function generated by an external force, and a handing-over control mechanism 400 to acquire moment information related to the moment occurring on at least one side of the floating body and the energy collection place, and to control the vibration isolator of the handing-over mechanism so that the storage tank is handed over while cancelling the moment.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a storage tank transfer system for transferring energy-stored storage tanks at sea. [Background Art]

[0002] As a method for transferring energy at sea, there is known a method wherein an energy supply vessel is positioned alongside an energy demand vessel, and hoses are connected between the manifolds of the respective vessels (see, for example, Patent Document 1). [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2020-37360 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In the above transfer method, in order to ensure the stability of mooring between two vessels, a plurality of manifolds are provided on the energy supply vessel based on a constant water surface level. However, there are various technical problems such as that energy transfer under rough sea and wind conditions is not taken into consideration.

[0005] An object of the present invention is to provide a storage tank transfer system that enables stable energy transfer even under rough wave and wind conditions. [Means for Solving the Problem]

[0006] A storage tank transfer system as one embodiment of the present invention is a storage tank transfer system for transferring a storage tank containing a predetermined amount of energy from a floating body on the sea to an energy recovery location on the sea or on land, comprising: a transfer mechanism equipped with at least one vibration damper having a function to cancel moments caused by external forces; and a transfer control mechanism that acquires moment information relating to the moments generated in at least one of the floating body and the energy recovery location, and controls the vibration damper of the transfer mechanism so that the storage tank is transferred while canceling the moments. The floating body is an unmoored power-generating floating body to which a kite used for power generation is attached, and has a kite retrieval mechanism for storing the kite when the storage tank is handed over. . [Effects of the Invention]

[0007] A storage tank transfer system according to one embodiment of the present invention is equipped with at least one vibration isolator in the transfer mechanism that transfers a storage tank from a floating body to an energy recovery station. This vibration isolator has a function to cancel moments generated in at least one of the floating body and the energy recovery station. By controlling the vibration isolator with the transfer control mechanism, the moment generated in at least one of the floating body and the energy recovery station is canceled out while the storage tank is transferred. Therefore, with this storage tank transfer system, the effects of external forces can be suppressed even when transferring storage tanks at sea. In other words, with this storage tank transfer system, stable energy transfer is possible even in rough seas and winds. [Brief explanation of the drawing]

[0008] [Figure 1] A schematic diagram showing an example of a storage tank transfer system according to the present invention. [Figure 2] A diagram showing an example of a coordinate system on a ship. [Figure 3A] A schematic diagram of the storage tank transfer system in the first embodiment. [Figure 3B] Schematic diagram of an example of a vibration isolator [Figure 4] A schematic diagram of an example of a floating structure. [Figure 5]A schematic diagram of an example of a recovery vessel. [Figure 6] A slow chart showing an example of processing in a power generation floating structure. [Figure 7] A slow chart showing an example of processing on a recovery vessel. [Figure 8] A flowchart showing an example of vibration isolator control processing. [Figure 9] This figure shows a modified version of the transfer device shown in Figure 3A. [Figure 10] A schematic diagram of the storage tank transfer system in the second embodiment. [Figure 11] A sequence diagram showing an example of the processing carried out in the recovery vessel and the power generation float in the second embodiment. [Modes for carrying out the invention]

[0009] 1. Overview of the Storage Tank Transfer System First, an overview of an example of the storage tank transfer system 1 according to the present invention will be explained using Figure 1. In the storage tank transfer system 1 according to the present invention, a storage tank ST containing a predetermined amount of energy is transferred from a floating body 100 floating on the sea to an energy recovery location 200 by a transfer mechanism 300. The type of energy stored in the storage tank ST is not limited. The energy stored in the storage tank ST may be, for example, electrical energy generated using renewable energy at the floating body 100. Alternatively, the energy stored in the storage tank ST may be, for example, energy obtained from a location other than the floating body 100.

[0010] The energy recovery location 200 is the location where the storage tank ST is recovered. The energy recovery location 200 may be any suitable location on land or at sea. The energy recovery location 200 may be, for example, a recovery facility on land or at sea. The energy recovery location 200 may be, for example, a recovery vessel at sea. The recovery vessel may, for example, recover the storage tank ST from the floating body 100 at sea and transport it to a designated energy demand area. Hereinafter, a recovery vessel that functions as the energy recovery location 200 will be referred to as the recovery vessel 200.

[0011] The transfer mechanism 300 is a mechanism for transferring the storage tank ST between the floating body 100 and the recovery vessel 200. The transfer mechanism 300 may include, for example, a transfer device 310 and a vibration damper 320 provided on the transfer device 310. The transfer device 310 may be a device that extends between the floating body 100 and the recovery vessel 200 and moves the storage tank ST. The shape of the transfer device 310 is not limited. The transfer device 310 may be, for example, a robotic arm type device having multiple axes (i.e., multiple joints). The transfer device 310 may be, for example, a bridge type device having a bridge section such as a so-called gangway. Alternatively, the transfer device 310 may be, for example, a crane type device. The vibration damper 320 has the function of canceling moments generated by external forces. The external forces may be various forces that the floating body 100 and / or the recovery vessel 200 may experience at sea. External forces may include, for example, wave forces and wind forces. Moments will be discussed later. The transfer mechanism 300 may be controlled, for example, by a transfer control mechanism 400.

[0012] The delivery control mechanism 400 may, for example, acquire moment information related to a moment generated in at least one of the floating body 100 and the recovery vessel 200, and control the delivery mechanism 300 to deliver the storage tank ST while canceling said moment. The delivery control mechanism 400 may, for example, include a delivery operation control unit 410 and a vibration isolator control mechanism 400a. The delivery operation control unit 410 may control the operation of the delivery device 310. The delivery operation control unit 410 may, for example, control a series of operations of the delivery device 310 that moves the storage tank ST between the floating body 100 and the recovery vessel 200. The vibration isolator control mechanism 400a may control the operation of the vibration isolator 320. The vibration isolator control mechanism 400a may, for example, include a moment information unit 420 and an anti-vibration operation control unit 430.

[0013] In the moment information unit 420, for example, a moment generated in at least one of the floating body 100 and the recovery vessel 200 by an external force may be calculated. The moment calculated by the moment information unit 420 may include a predicted moment. The predicted moment is a moment that may occur in at least one of the floating body 100 and the recovery vessel 200. The moment information unit 420 may calculate the predicted moment based on various types of information related to external forces. The moment information unit 420 may output moment information related to the calculated moment.

[0014] Here, the moment generated in a vessel will be described with reference to Figure 2. In general, an external force acts on a vessel at sea to generate rotational moments including rolling with the length direction (Y axis) of the vessel as the rotation axis, pitching with the beam direction (X axis) of the vessel as the rotation axis, and yawing with the height direction (Z axis) of the vessel as the rotation axis. The origin of the coordinate system applied to the vessel may be, for example, the center of gravity of the vessel. In the present embodiment, these rotational moments are collectively referred to as a moment. With the movement of the storage tank ST, the respective weights of the floating body 100 and the recovery vessel 200 change. When the position of the center of gravity changes due to this weight change, the moment information unit 420 may calculate the moment in consideration of the weight change.

[0015] Returning to FIG. 1, the vibration isolation operation control unit 430 may output a control instruction for controlling the operation of the vibration isolator 320 based on the moment information output from the moment information unit 420. The vibration isolation operation control unit 430 may control the vibration isolator 320 based on the moment information such that the moment affecting the transfer device 310 is canceled. For example, the vibration isolation operation control unit 430 may acquire moment information respectively related to the floating body 100 and the recovery vessel 200, cancel out the moment generated in the floating body 100 and the moment generated in the recovery vessel 200, and output a control instruction for controlling the operation of the vibration isolator 320 such that the moment affecting the transfer device 310 is canceled.

[0016] The transfer control mechanism 400 may be provided at any location either offshore or on land. For example, the transfer control mechanism 400 may be appropriately provided on the floating body 100 or the recovery vessel 200. For example, the transfer control mechanism 400 may be provided in an appropriate facility offshore or on land. For example, the transfer control mechanism 400 may be distributed and provided in the floating body 100, the recovery vessel 200, and appropriate facilities. For example, the transfer control mechanism 400 may be configured to be implemented by cloud computing.

[0017] 2. First Embodiment An example of the storage tank transfer system 1 will be described as the first embodiment. FIG. 3A shows an example of each of the floating body 100, the transfer mechanism 300, and the recovery vessel 200 in the first embodiment. In the first embodiment, the transfer device 310 may be, for example, a multi-axis robotic arm type device. The transfer mechanism 300 and the transfer control mechanism 400 may be provided, for example, on the recovery vessel 200. The energy stored in the storage tank ST may be, for example, electrical energy generated in the floating body 100. For power generation in the floating body 100, renewable energy such as solar power or wind power may be used, for example. In the floating body 100 of the present embodiment, wind power generation may be performed. Hereinafter, the floating body 100 in the present embodiment is referred to as power generation floating body 100. Further description of each of the power generation floating body 100, the recovery vessel 200, the transfer mechanism 300, and the transfer control mechanism 400 will be given later.

[0018] (Configuration of the power generation floating body 100) The configuration of the power-generating floating body 100 will be explained with reference to Figure 4. As an example, the power-generating floating body 100 may include a power generation unit 110, a navigation unit 120, a storage unit 130, a floating body communication unit 150, and a floating body control unit 160, as shown in Figure 4.

[0019] The power generation unit 110 may include several elements used for wind power generation. The power generation unit 110 may include, for example, a kite 111 connected to the hull 101 via a tether 112, a winch 113, and a generator 114. The winch 113 has a rotating shaft 113a as its axis of rotation, and the rotating shaft 113a is connected to the rotating shaft of the generator 114. The tether 112 is wound around the rotating shaft 113a. When the kite 111 rises due to the wind, the tether 112 is extended from the winch 113 in conjunction with this rise. This extension of the tether 112 causes the rotating shaft 113a to rotate. Power is generated when the rotating shaft of the generator 114 rotates in conjunction with the rotation of the kite 111 as it rises. Also, when the rotating shaft 113a rotates in the direction of winding up the tether 112, the tether 112 is retrieved and the kite 111 descends. When the tether 112 is retrieved, the generator 114 may rotate the rotating shaft 113a based on control instructions from the floating control unit 160. Based on control instructions from the floating control unit 160, for example, the direction of the winch 113 and the opening and closing of the kite 111 may be controlled. In this way, wind power generation using the kite 111 may be performed on the power-generating floating body 100.

[0020] The navigation unit 120 may include several elements for navigating the power-generating float 100 at sea. The power-generating float 100 may be configured to sail based on wind energy received by the sail 121, for example. In addition to the sail 121, the navigation unit 120 may be provided with, for example, a rudder 122 for determining the direction of the hull 101, and a centerboard 123 for generating lateral force. Furthermore, in order to enable movement by electricity in addition to movement by wind, the power-generating float 100 may have, for example, a thruster 125 and a motor 124 as a power source as part of the navigation unit 120. For example, electricity generated by the power-generating unit 110 may be used to drive the motor 124. In addition, the navigation unit 120 may include sensors necessary for navigation. The sensors may include, for example, a wind direction and speed sensor, an acceleration sensor, an angular velocity sensor, and a speed sensor. For example, the navigation unit 120 may be controlled by control instructions from the floating body control unit 160 based on a predetermined route, so that the power generation floating body 100 navigates along that route.

[0021] The storage unit 130 may include a plurality of elements for storing the electrical energy obtained by the power generation of the power generation unit 110 in a predetermined manner. The manner of storing the electrical energy is not limited. In this embodiment, the electrical energy may be converted into a hydrogen carrier and stored, for example. In this case, the storage unit 130 may include, for example, a hydrogen carrier generation unit 131 and at least one storage tank ST. The hydrogen carrier generation unit 131 may be configured so that the electrical energy generated by the power generation unit 110 is converted into a hydrogen carrier. For example, hydrogen gas may be used as the hydrogen carrier. The storage tank ST may be, for example, a hydrogen storage alloy tank having a hydrogen storage alloy. The hydrogen output from the hydrogen carrier generation unit 131 may be absorbed into the hydrogen storage alloy of the storage tank ST.

[0022] The hydrogen carrier obtained by the hydrogen carrier generation unit 131 is not limited to hydrogen gas. For example, liquefied hydrogen, ammonia, methylcyclohexane, etc., may be used as the hydrogen carrier obtained by the hydrogen carrier generation unit 131. The storage tank ST should have a configuration suitable for storing the adopted hydrogen carrier. The storage tank ST may also be a battery tank having a battery that is charged with electricity generated by the power generation unit 110.

[0023] The floating communication unit 150 may be configured to be able to communicate wirelessly with other elements. The floating communication unit 150 may be configured to be able to communicate wirelessly with information transmitted from other elements to the floating control unit 160 and information transmitted from the floating control unit 160 to other elements (including control instructions). "Other elements" may include, for example, the recovery vessel 200 and various information providers. The power generation floating 100 may obtain, for example, wave conditions around its base and wind conditions around its base from various providers via the floating communication unit 150.

[0024] The floating control unit 160 may be configured as a control unit including, for example, a CPU (Central Processing Unit), a memory device and input / output interfaces necessary for the operation of the CPU. The memory device may include, for example, ROM (Read Only Memory), RAM (Random Access Memory), and data storage. The floating control unit 160 may be connected to each unit 110, 120, 130, and 150 by a data bus via an input / output interface. The floating control unit 160 may control various operations by outputting control instructions to each unit 110, 120, 130, and 150.

[0025] The storage device may hold various information necessary for each process performed by the power generation floating body 100. For example, the storage device may hold a floating body ID for identifying each power generation floating body 100. For example, various information (including control instructions) output from the power generation floating body 100 may include the floating body ID to indicate the source of the output. The storage device may also hold, for example, floating body shape information FSI. The floating body shape information FSI may include information about the shape of the power generation floating body 100, as well as various other information about the power generation floating body 100. For example, the floating body shape information FSI may include the handover position of the storage tank ST. The handover position may be a predetermined position on the power generation floating body 100 where the storage tank ST is placed for handover. For example, the floating body shape information FSI may include information about the center of gravity and weight.

[0026] The ROM may store, for example, a computer program for implementing the processing in the floating control unit 160. The floating control unit 160 may read the computer program stored in the ROM or data storage. Alternatively, the floating control unit 160 may obtain (i.e., download) a computer program from an unillustrated device located outside the power generation floating body 100 via the floating communication unit 150, and read the obtained computer program. The floating control unit 160 executes the read computer program. As a result, logical functional blocks for controlling the operation of the power generation floating body 100 are realized within the floating control unit 160.

[0027] Figure 4 shows a kite control unit 161 as an example of a functional block implemented within the floating control unit 160. The kite control unit 161 may perform control related to the kite 111. For example, the kite control unit 161 may control the rotation of the rotating shaft 113a of the winch 113. By controlling this rotation, the winding and unwinding of the tether 112 are controlled as described above. The kite control unit 161 may also control the opening and closing of the kite 111, for example.

[0028] (Composition of 200 recovery vessels) The configuration of the recovery vessel 200 will be explained with reference to Figure 5. The recovery vessel 200 may include, for example, a recovery vessel navigation unit 210, a recovery vessel sensor unit 220, a tank storage unit 230, a recovery vessel input / output unit 240, and a recovery vessel control unit 250. Each element in each unit 210, 220, 230, and 240 and the recovery vessel control unit 250 may be connected, for example, via a data bus (not shown).

[0029] The recovery vessel navigation unit 210 may include several elements necessary for the recovery vessel 200 to navigate at sea. For example, it may include an engine, propulsion system, and various devices and equipment necessary for maneuvering. The recovery vessel sensor unit 220 may include various sensors necessary for the recovery vessel 200 to navigate at sea. For example, the recovery vessel sensor unit 220 may include a wind direction and speed sensor, an acceleration sensor, an angular velocity sensor, and a speed sensor. The tank storage unit 230 may be configured to store at least one storage tank ST recovered from the power generation float 100. The environment of the tank storage unit 230 (temperature and humidity, etc.) may be controlled by the recovery vessel control unit 250.

[0030] The recovery vessel input / output unit 240 may be configured to input and output various types of information with other elements. The recovery vessel input / output unit 240 may include input / output via wireless communication and input / output via wired communication. For example, the recovery vessel input / output unit 240 may be configured to enable wireless or wired communication of information input from other elements to the recovery vessel 200 and information output from the recovery vessel 200 to other elements (including control instructions). "Other elements" may include, for example, the power generation float 100, the transfer device 310, and other sources of various types of information. The recovery vessel 200 may obtain, for example, wave conditions around the vessel, wind conditions around the vessel, etc., from various sources via the recovery vessel input / output unit 240.

[0031] The recovery vessel control unit 250 may, for example, control various processes related to the recovery vessel 200 and processes related to the transfer mechanism 300. The recovery vessel control unit 250 may be configured as a control unit including a CPU (Central Processing Unit) and a storage device and input / output interface necessary for the operation of the CPU. The storage device may include, for example, ROM (Read Only Memory), RAM (Random Access Memory), and data storage. The recovery vessel control unit 250 may be connected to each of the parts 210, 220, 230, and 240 by a data bus via an input / output interface. The recovery vessel control unit 250 may, for example, control various operations in each of the parts 210, 220, 230, and 240. The storage device may hold various information necessary for each process performed by the recovery vessel control unit 250. The storage device may hold, for example, recovery vessel shape information SSI. The recovery vessel shape information SSI may include information about the shape of the recovery vessel 200, as well as various other information related to the recovery vessel 200. The recovery vessel shape information SSI may include, for example, the receiving position of the storage tank ST. The receiving position may be a predetermined position on the recovery vessel 200 where the storage tank ST is received. The recovery vessel shape information SSI may also include, for example, information regarding the center of gravity and weight.

[0032] The ROM may store, for example, a computer program for implementing processing in the recovery vessel 200. The recovery vessel control unit 250 may read the computer program stored in the ROM or data storage. Alternatively, the recovery vessel control unit 250 may acquire (i.e., download) a computer program from an unillustrated device located outside the recovery vessel 200 via the recovery vessel input / output unit 240 and read the acquired computer program. The recovery vessel control unit 250 executes the read computer program. As a result, logical functional blocks for controlling the operation of the recovery vessel 200 are realized within the recovery vessel control unit 250.

[0033] In this embodiment, as shown in Figure 5, the transfer control mechanism 400 (i.e., the transfer operation control unit 410, the moment information unit 420, and the vibration isolation operation control unit 430) may be implemented as a functional block within the recovery vessel control unit 250. That is, the recovery vessel control unit 250 may function as the vibration isolation control mechanism 400a. Details of the processing performed by each of the parts 410, 420, and 430 of the transfer control mechanism 400 will be described later.

[0034] The configuration of the transfer mechanism 300 will be explained by referring back to Figure 3A. The transfer device 310 in this embodiment may be, for example, a 6-axis robotic arm type device having an arm extending from the recovery vessel 200 to the power generation floating body 100. The transfer device 310 may have six joints (i.e., the first joint 311a, the second joint 311b, the third joint 311c, the fourth joint 311d, the fifth joint 311e, and the sixth joint 311f) as shown in Figure 3A. Hereinafter, when there is no need to distinguish between each joint 311a-311f, they will be referred to as joint 311. A member for lifting the storage tank ST may be provided at the tip of the transfer device 310. The method for lifting the storage tank ST may be a method that is appropriate to the weight, shape, etc. of the storage tank ST. Methods for lifting the storage tank ST may include, for example, a gripping method, a hook method, an electromagnetic method, and a lifting method. As the component provided at the tip of the transfer device 310, a component appropriate to each method may be used. Figure 3A shows an example in which a lifting component capable of lifting the storage tank ST is provided at the tip of the transfer device 310.

[0035] A vibration isolator 320 may be provided on the rear end side of the transfer device 310, that is, on the side where the transfer device 310 is connected to the recovery vessel 200. The vibration isolator 320 may be provided, for example, on the sixth joint 311f of the transfer device 310. As shown in Figure 3B, the vibration isolator 320 may be configured, for example, as a so-called active type vibration isolator. The vibration isolator 320 may have, for example, a vibration isolator input / output unit 321, an actuator unit 322, and a vibration adjustment unit 323. The vibration isolator input / output unit 321 may be provided to input and output information to and from an external source (for example, a vibration isolation operation control unit 430). The vibration isolator input / output unit 321 may be provided to input and output information to and from an external source wirelessly and / or wired. The actuator unit 322 may function as an actuator that operates the vibration adjustment unit 323 based on control instructions from the vibration isolation operation control unit 430. For example, the vibration adjustment unit 323 may be configured to absorb forces (i.e., moments) generated in the recovery vessel 200 by operating in accordance with the actuator unit 322. The vibration adjustment unit 323 may include, for example, a weight or an elastic body. Hereinafter, "control of the vibration isolator 320" includes "control of the actuator unit 322 of the vibration isolator 320".

[0036] (Processing performed in the storage tank transfer system) The following describes the processes performed in the storage tank transfer system 1 of the first embodiment. The processes performed in the power generation floating body 100 will be explained with reference to Figure 6. Each process in the power generation floating body 100 may be performed by the floating body control unit 160 as described above. The floating body control unit 160 may first determine whether or not the transfer timing for the storage tank ST has arrived (step S10). The floating body control unit 160 may determine that the transfer timing has arrived, for example, by receiving an arrival notification from the recovery vessel 200 indicating that the recovery vessel 200 has arrived at a predetermined recovery location. The transfer timing may be predetermined. In this case, the floating body control unit 160 may, for example, time until the predetermined transfer timing and then determine whether or not the transfer timing has arrived.

[0037] If the handover timing has not yet arrived (Step S10: No), the floating control unit 160 may remain in a waiting state for the handover timing to arrive. If it is determined that the handover timing has arrived (Step S10: Yes), for example, the kite control unit 161 in the floating control unit 160 may perform the kite retrieval process (Step S12). In the kite retrieval process, a process for storing the kite 111 may be performed. In the kite retrieval process, the kite control unit 161 may, for example, move the power generation floating body 100 to a predetermined position near the recovery vessel 200 and stop it. Subsequently, the kite control unit 161 may retrieve the kite 111 by rotating the rotating shaft 113a of the winch 113 in the direction in which the tether 112 is wound up. The kite control unit 161 may control the kite 111 and the winch 113 so that the kite 111 is closed and retrieved to a predetermined location. As a result, the kite control unit 161 and the winch 113 function as a kite retrieval mechanism.

[0038] After the kite recovery process, the floating body control unit 160 may, for example, perform a floating body handover process (step S14). In the floating body handover process, the floating body control unit 160 may, for example, send a handover start notification to the recovery vessel 200. In the floating body handover process, the floating body control unit 160 may, for example, rotate its bow so that the handover position faces the recovery vessel 200. In the floating body handover process, the floating body control unit 160 may, for example, move the storage tank ST to the handover position. For example, the storage tank ST may be positioned at the handover position by a robot or crane device controllable by the floating body control unit 160. The storage tank ST positioned at the handover position may wait to be lifted by the handover device 310. In the floating body handover process, the floating body control unit 160 may, for example, send information necessary for the handover of the storage tank ST, such as floating body shape information FSI, to the recovery vessel 200.

[0039] The processes performed on the recovery vessel 200 will be explained with reference to Figure 7. Each process on the recovery vessel 200 may be performed by the recovery vessel control unit 250, as described above. The recovery vessel control unit 250 may first determine whether or not the transfer of the storage tank ST has begun (step S20). The recovery vessel control unit 250 may determine that the transfer has begun, for example, by receiving a transfer start notification transmitted from the power generation float 100. The timing of the transfer start may be predetermined. In this case, the recovery vessel control unit 250 may, for example, time until a predetermined transfer start timing and then determine whether or not the transfer has begun.

[0040] If the handover has not yet begun (Step S20: No), the recovery vessel control unit 250 may enter a state of waiting for the handover to begin. If it is determined that the handover has begun (Step S20: Yes), the recovery vessel control unit 250 may, for example, perform on-board handover processing (Step S22). In on-board handover processing, for example, the vibration isolator 320 and the handover device 310 may be controlled by the handover control mechanism 400 so that the storage tank ST is handed over while canceling out any moments affecting the handover device 310.

[0041] The handover operation control unit 410 may, for example, (1) bring the lifting member at the tip of the handover device 310 close to the storage tank ST waiting at the handover position of the power generation float 100, (2) lift the storage tank ST, and (3) move the lifted storage tank ST to the receiving position of the recovery vessel 200. The handover operation control unit 410 may, for example, control the actuators corresponding to each joint 311 to perform the above series of operations (1)-(3). The handover operation control unit 410 may, for example, determine the trajectory of the storage tank ST moving by the above series of operations and control each joint 311 based on that trajectory.

[0042] The handover operation control unit 410 may determine the trajectory of the storage tank ST so that it does not interfere with (or collide with) the power generation float 100 and the recovery vessel 200. The handover operation control unit 410 may determine this trajectory based, for example, on the shape information FSI and SSI of the power generation float 100 and the recovery vessel 200, respectively, and moment information obtained by the moment information unit 420. This makes it possible to avoid interference between the power generation float 100 and the recovery vessel 200, which are moving at sea due to external forces, and the storage tank ST. When the storage tank ST arrives at the receiving position, it may be transported to, for example, the tank storage unit 230. For example, the storage tank ST may be transported from the receiving position to the tank storage unit 230 by a robot or crane device controllable by the recovery vessel control unit 250.

[0043] The transfer operation control unit 410 performs operation control (i.e., operation control of (1)-(3)), and the vibration isolation control mechanism 400a may perform, for example, vibration isolation control processing. In the vibration isolation control processing, the vibration isolation control mechanism 400a may control the operation of the vibration isolation device 320 so that moments affecting the transfer device 310 are canceled. The vibration isolation control mechanism 400a may, for example, perform vibration isolation control processing in response to the operation of the transfer device 310 so that moments affecting the transfer device 310 are canceled. An example of vibration isolation control processing is explained using Figure 8. In the example shown in Figure 8, steps S30-S36 may be performed by the moment information unit 420 of the vibration isolation control mechanism 400a. Step S38 may be performed by the vibration isolation operation control unit 430 of the vibration isolation control mechanism 400a.

[0044] In the vibration isolator control process, first, the moment information unit 420 may obtain information on external forces from another source (step S30). The moment information unit 420 may obtain this information from a predetermined source that provides wave information within a predetermined range including its own position. The wave information may be information on wave conditions. Wave conditions may include, for example, wave height and wave period. Wave information may include forecast information regarding wave conditions. The moment information unit 420 may obtain this information from a predetermined source that provides wind condition information within a predetermined range including its own position. Wind condition information may be information on wind conditions. Wind conditions may include, for example, wind direction and wind speed. Wind condition information may include forecast information regarding wind conditions. The moment information unit 420 may obtain wave information and wind condition information from, for example, various sensors of the recovery vessel sensor unit 220.

[0045] As described above, based on the movement of the storage tank ST, the weight of the storage tank ST moves from the power generation float 100 to the recovery vessel 200. For this reason, the moment information unit 420 may calculate the moment taking this weight change into consideration. For example, the moment information unit 420 may determine whether or not a weight change has occurred (step S32). For example, the moment information unit 420 may determine that the weight change has occurred when the storage tank ST is lifted by the transfer device 310, that is, when the storage tank ST is separated from the power generation float 100. For example, based on the control instruction output from the transfer operation control unit 410 to the transfer device 310, the moment information unit 420 may specify when the storage tank ST is lifted.

[0046] If no weight change has occurred (Step S32: No), the moment information unit 420 may, for example, use a first center of gravity as the center of gravity to be used for calculating the moment (Step S34). The first center of gravity may be, for example, the centers of gravity of the power generation float 100 and the recovery vessel 200 when the storage tank ST is on the power generation float 100. On the other hand, if it is determined that a weight change has occurred (Step S32: Yes), the moment information unit 420 may, for example, use a second center of gravity as the center of gravity to be used for calculating the moment (Step S36). The second center of gravity may be, for example, the centers of gravity of the power generation float 100 and the recovery vessel 200 when the storage tank ST is separated from the power generation float 100. Information about the power generation float 100 necessary for calculating the moment (such as the center of gravity and weight) may be identified, for example, based on the float shape information FSI. The information about the recovery vessel 200 necessary for calculating the moment (such as the center of gravity and weight) may be identified, for example, based on the recovery vessel shape information SSI.

[0047] Furthermore, if the moments affecting the transfer device 310 differ depending on the operation of the transfer device 310, only the moments corresponding to the operation of the transfer device 310 may be calculated. For example, if only the moments generated on the recovery vessel 200 affect the transfer device 310, in steps S32 and S36, the moment information unit 420 may calculate only the moments generated on the recovery vessel 200. The moment information may also include predicted moments as described above.

[0048] The moment information unit 420 may output moment information relating to the calculated moment. Based on the output moment information, the vibration isolation operation control unit 430 may output a control instruction to control the vibration isolator 320 (step S38). For example, the vibration isolation operation control unit 430 may control the vibration isolator 320 based on the moment information so that the moment affecting the transfer device 310 is canceled. As described above, the moment information may include a predicted moment. This enables feedforward vibration isolation measures. If the moment affecting the transfer device 310 differs depending on the operation of the transfer device 310, the vibration isolation operation control unit 430 may control the vibration isolator 320 so that the moment corresponding to the operation of the transfer device 310 is canceled.

[0049] If the moments generated in the recovery vessel 200 and the power generation float 100 affect the transfer device 310, the vibration isolation control unit 430 may control the vibration isolator 320 so that, for example, the moments generated in the recovery vessel 200 and the moments generated in the power generation float 100 cancel each other out, thereby canceling out the moments affecting the transfer device 310. On the other hand, if the moments generated in the recovery vessel 200 to which the transfer device 310 is connected affect the transfer device 310, the vibration isolation control unit 430 may control the vibration isolator 320 so that, for example, the moments generated in the recovery vessel 200 are canceled out.

[0050] The transfer operation control unit 410 may lift the storage tank ST from the transfer position at a predetermined lifting timing. The lifting timing may be, for example, when the power generation float 100 is at the crest of a wave. The transfer operation control unit 410 may, for example, obtain the wave period based on wave information acquired by the moment information unit 420 and determine the timing when the power generation float 100 is at the crest of a wave. When the power generation float 100 is on the wave, the storage tank ST on the power generation float 100 rises in the height direction. Therefore, the amount of movement of the storage tank ST by the transfer device 310 in the height direction is reduced, and it is expected that the risk of the storage tank ST interfering with the power generation float 100 is reduced.

[0051] Even if a weight change occurs due to the movement of the storage tank ST, if the weight of the recovery vessel 200 is sufficiently large and the center of gravity of the recovery vessel 200 hardly changes, the moment information unit 420 may calculate the moment by using only the first center of gravity without considering the weight change for the recovery vessel 200. In the vibration isolator control processing (Figure 8), in addition to the moment of each axis in the XYZ coordinate system of the recovery vessel 200 (Figure 2), the moment information unit 420 may calculate, for example, the translational force of each axis and output the translational force as moment information. In this case, the vibration isolator operation control unit 430 may control the actuator unit 322 of the vibration isolator 320 so that the translational force is canceled in addition to the moment generated in the power generation float 100 and the recovery vessel 200. Furthermore, the transfer operation control unit 410 may determine the trajectory of the moving storage tank ST by considering the translational force in addition to the moment generated in the power generation float 100 and the recovery vessel 200.

[0052] A vibration isolator 320 may be provided, for example, on the first joint 311a of the transfer device 310. If a plurality of vibration isolators 320 are provided on the transfer device 310, for example, in step S38 of the vibration isolator control process (Figure 8), the vibration isolator operation control unit 430 may output a control instruction to each vibration isolator 320.

[0053] In the first embodiment, the transfer device 310 may be provided on the power generation floating body 100. In this case, the transfer device 310 may extend from the power generation floating body 100 to the recovery vessel 200. The vibration isolator 320 may be provided, for example, at the connection between the transfer device 310 and the power generation floating body 100. In this case, the transfer control mechanism 400 may be implemented by the floating body control unit 160.

[0054] In the first embodiment, the transfer mechanism 300 may transfer a storage tank ST before energy (hydrogen in this embodiment) is stored in it, i.e., an empty storage tank ST (hereinafter referred to as "empty tank ST"), from the recovery vessel 200 to the power generation floating body 100. The transfer of the empty tank ST may be performed, for example, after the transfer of the storage tank ST in which energy is stored. For the transfer of the empty tank ST, a process similar to the ship-side transfer process (Figure 7: step S22) may be performed on the empty tank ST. For example, the transfer operation control unit 410 and the vibration isolation control mechanism 400a may control the operation of the transfer device 310 while canceling the moment affecting the transfer device 310 by the vibration isolation device 320.

[0055] The handover operation control unit 410 may, for example, (4) bring the lifting member at the tip of the handover device 310 close to the empty tank ST waiting at the handover position of the recovery vessel 200, (5) lift the empty tank ST, and (6) move the lifted empty tank ST to the receiving position of the power generation float 100. The handover operation control unit 410 may, for example, control the actuators provided at each joint 311 to perform the series of operations (4)-(6) described above. The handover operation control unit 410 may, for example, determine the trajectory of the storage tank ST moving by the series of operations described above, and control each joint 311 based on that trajectory. The handover operation control unit 410 performs operation control (i.e., operation control of (4)-(6)), and the vibration isolation control mechanism 400a may perform vibration isolation control processing (Figure 8). The processing performed in the vibration isolation control processing may be the same as the processing described above. However, if no weight change has occurred (Step S32: No), the second center of gravity may be used. Also, if it is determined that a weight change has occurred (Step S32: No), the first center of gravity may be used.

[0056] In the first embodiment, the transfer device 310 may be a crane-type device, as shown in Figure 9. Even if the transfer device 310 is a crane-type device, the same processing as described above may be performed. Figure 9 shows an example in which a suction member capable of electromagnetically attracting the storage tank ST is provided at the tip of the transfer device 310.

[0057] 3. Second Embodiment Another example of the storage tank transfer system 1 according to the present invention is described as a second embodiment. In the description of the second embodiment, the differences from the first embodiment will be mainly described, and other parts will be omitted as appropriate. Elements corresponding to elements of the first embodiment will be described using the same reference numerals as in the first embodiment.

[0058] Figure 10 shows examples of the floating body 100, the transfer mechanism 300, and the recovery vessel 200 in the second embodiment. The transfer device 310 in the second embodiment may be a bridge-type device, as shown in Figure 10. The transfer mechanism 300 and the transfer control mechanism 400 may be provided, for example, on the recovery vessel 200.

[0059] The transfer device 310 may have, for example, a gangway section 310a extending from the recovery vessel 200 to the power generation floating body 100. The transfer device 310 may have, for example, the rear end of the gangway section 310a, i.e., the rear end of the transfer device 310 connected to the recovery vessel 200. The gangway section 310a may be configured to be extendable or retractable. The gangway section 310a may be configured to allow the storage tank ST to move. Conventional methods of moving the storage tank ST in the gangway section 310a may be employed, for example, by moving it on a cargo vehicle, or by moving it along rails provided in the gangway section 310a. The movement of the storage tank ST in the gangway section 310a may be controlled, for example, by a transfer operation control unit 410.

[0060] In the transfer mechanism 300 of the second embodiment, the transfer device 310 may be provided with two vibration isolators 320A and 320B. Vibration isolators 320A and 320B may function as abutments for a gangway section 310a installed between the power generation floating body 100 and the recovery vessel 200, as shown in Figure 10. Vibration isolator 320A may be provided at the tip of the transfer device 310 extending from the recovery vessel 200 to the power generation floating body 100, for example, so as to be located at position A 100p on the power generation floating body 100. Vibration isolator 320B may be provided at the rear end of the transfer device 310 extending from the recovery vessel 200 to the power generation floating body 100, for example, so as to be located at position B 200p on the recovery vessel 200. Hereinafter, when there is no need to distinguish between vibration isolators 320A and 320B, they will be referred to as vibration isolator 320.

[0061] The processing performed in the storage tank transfer system 1 of the second embodiment will be explained with reference to Figure 11. Processing in the recovery vessel 200 may be performed by the recovery vessel control unit 250. Processing in the power generation floating body 100 may be performed by the floating body control unit 160.

[0062] First, the recovery vessel control unit 250 may determine whether or not it is the handover start timing (step S40). The handover start timing may be a predetermined timing for receiving the storage tank ST from the power generation float 100. For example, when the recovery vessel 200 arrives at a predetermined location, the recovery vessel control unit 250 may determine that it is the handover start timing. If it is not the handover start timing (step S40: No), the recovery vessel control unit 250 may enter a handover start timing waiting state. If it is determined that it is the handover start timing (step S40: Yes), the recovery vessel control unit 250 may, for example, send a handover start notification to the power generation float 100.

[0063] When the floating body control unit 160 receives a delivery commencement notification, it may, for example, perform a delivery preparation process (step S50). In the delivery preparation process, the floating body control unit 160 may, for example, perform a kite recovery process. The kite recovery process in the second embodiment may be the same as the kite recovery process in the first embodiment (Figure 6: step S12). In the delivery preparation process, the floating body control unit 160 may, for example, rotate its bow so that position A 100p faces the recovery vessel 200. The floating body control unit 160 may also, for example, transmit floating body shape information FSI to the recovery vessel 200. When the delivery preparation process is completed, the floating body control unit 160 may send a preparation completion notification to the recovery vessel 200.

[0064] When the recovery vessel control unit 250 receives a notification that it is ready, it may, for example, perform the transfer device installation process (step S42). In the transfer device installation process, for example, the transfer operation control unit 410 of the recovery vessel control unit 250 may control the operation of the transfer device 310. For example, the transfer operation control unit 410 may control the transfer device 310 so that the gangway portion 310a of the transfer device 310 is extended to the power generation float 100 and the tip of the transfer device 310 reaches position A 100p of the power generation float 100. When the tip of the transfer device 310 reaches position A 100p, for example, the vibration isolator 320A at the tip may be connected to the power generation float 100. The transfer operation control unit 410 may determine the trajectory of the tip of the transfer device 310 so that the transfer device 310 does not interfere with the power generation floating body 100, based on, for example, the shape information FSI and SSI of the power generation floating body 100 and the recovery vessel 200, as well as the moment information obtained by the moment information unit 420. Once the installation of the transfer device 310 on the power generation floating body 100 is complete, the transfer operation control unit 410 may, for example, send an installation completion notification to the power generation floating body 100.

[0065] When the floating control unit 160 receives a notification of completion of installation, it may, for example, perform tank placement processing (step S52). In the tank placement processing, the floating control unit 160 may, for example, place the storage tank ST at a predetermined position in the gangway section 310a. For example, the storage tank ST may be placed at a predetermined position by a robot or crane device controllable by the floating control unit 160. For example, if the storage tank ST is moved on a cargo truck, the floating control unit 160 may place the storage tank ST on the cargo truck deployed at a predetermined position in the gangway section 310a. The deployment of the cargo truck may, for example, be performed by the transfer operation control unit 410. Once the placement of the storage tank ST is complete, the floating control unit 160 may, for example, send a placement completion notification to the recovery vessel 200.

[0066] When the handover operation control unit 410 of the recovery vessel control unit 250 receives a notification that placement is complete, it may, for example, perform a tank movement process (step S44). In the tank movement process, the storage tank ST is moved along the gangway section 310a to the recovery vessel 200, depending on the movement method adopted. The tank movement process may be performed, for example, by the handover operation control unit 410. When the storage tank ST arrives at the rear end of the gangway section 310a, it may be transported, for example, to the tank storage section 230. For example, the storage tank ST may be transported to the tank storage section 230 by a robot or crane device controllable by the recovery vessel control unit 250.

[0067] When the storage tank ST moves away from the transfer device 310, the transfer operation control unit 410 may, for example, perform a transfer device withdrawal process (step S46). In the transfer device withdrawal process, the transfer operation control unit 410 may, for example, control the transfer device 310 so that its tip is moved away from position A 100p of the power generation float 100 and the transfer device 310 is recovered by the recovery vessel 200. The transfer operation control unit 410 may determine the trajectory of the tip of the transfer device 310 so that the transfer device 310 does not interfere with the power generation float 100, similar to when the transfer device 310 is installed.

[0068] In the transfer device installation process and the transfer device removal process, the operation of the transfer device 310 is controlled by the transfer operation control unit 410, and the vibration isolation control mechanism 400a may perform, for example, vibration isolation control processing (Figure 8). In the vibration isolation control processing (Figure 8), steps S32 to S38 may be performed for each vibration isolation device 320A, 320B. In the second embodiment, for example, the storage tank ST may be considered to have moved away from the power generation float 100 when it has moved to the center of the gangway section 310a. In this case, in step S32, the moment information unit 420 may determine, for example, that no weight change occurs until the storage tank ST moves to the center of the gangway section 310a. The moment information unit 420 may also determine that a weight change has occurred when the storage tank ST has passed the center.

[0069] For each vibration isolator 320, for example, the following processing may be performed. When no weight change occurs (step S32: No), the first center of gravity of the power generation float 100 and the first center of gravity of the recovery vessel 200 may be adopted, and the moment generated in the power generation float 100 and the moment generated in the recovery vessel 200 may be calculated, respectively (step S34). Also, when it is determined that a weight change has occurred (step S32: Yes), the second center of gravity of the power generation float 100 and the second center of gravity of the recovery vessel 200 may be adopted, respectively, and the moment generated in the power generation float 100 and the moment generated in the recovery vessel 200 may be calculated, respectively (step S36).

[0070] Next, the vibration isolation control unit 430 may control each vibration isolator 320 based on the moment information so that the moment affecting the transfer device 310 is canceled (step S38). The vibration isolation control unit 430 may control the vibration isolators 320 so that, for example, the moment generated in the power generation float 100 and the moment generated in the recovery vessel 200 are canceled out, thereby canceling out the moment affecting the transfer device 310.

[0071] In the second embodiment, the transfer device 310 may be provided on the power generation floating body 100. In this case, the transfer device 310 may extend from the power generation floating body 100 to the recovery vessel 200. In this case, the vibration isolator 320A may be provided on the rear end side of the transfer device 310, and the vibration isolator 320B may be provided on the front end side of the transfer device 310. The process for controlling each vibration isolator 320 may be the same as the process described above.

[0072] Note The following additional information is disclosed regarding the embodiments described above.

[0073] [Note 1] The storage tank transfer system described in Appendix 1 is a storage tank transfer system for transferring a storage tank containing a predetermined amount of energy from a floating body on the sea to an energy recovery location on the sea or on land, comprising: a transfer mechanism equipped with at least one vibration isolation device having a function to cancel moments generated by external forces; and a transfer control mechanism that acquires moment information relating to the moments generated in at least one of the floating body and the energy recovery location, and controls the vibration isolation device of the transfer mechanism so that the storage tank is transferred while canceling the moments.

[0074] According to the storage tank transfer system described in Appendix 1, the transfer mechanism for transferring the storage tank from the floating body to the energy recovery station is equipped with at least one vibration isolator. This vibration isolator has a function to cancel out the moment generated in at least one of the floating body and the energy recovery station. By controlling the vibration isolator with the transfer control mechanism, the storage tank is transferred with the moment generated in at least one of the floating body and the energy recovery station canceled out. External forces may include, for example, wind and wave forces. Therefore, according to the storage tank transfer system described in Appendix 1, the effects of external forces can be suppressed even when transferring storage tanks at sea. In other words, according to this system, stable energy transfer is possible even in rough sea and wind conditions.

[0075] [Note 2] The storage tank transfer system described in Appendix 2 is the storage tank transfer system described in Appendix 1, wherein the floating body is an unmoored power generation floating body to which a kite used for power generation is attached, and which has a kite retrieval mechanism for storing the kite when the storage tank is transferred.

[0076] According to the storage tank transfer system described in Appendix 2, stable energy transfer is possible even for the transfer of storage tanks containing electrical energy obtained from power generation using kites at sea. Since the kite is recovered when the storage tank is transferred, the presence of the kite does not need to be considered when the transfer is carried out by the transfer mechanism.

[0077] [Note 3] The storage tank transfer system described in Appendix 3 is the storage tank transfer system described in Appendix 1 or 2, wherein the energy recovery location is a recovery vessel, and the transfer control mechanism acquires the moment information with respect to the floating body and the recovery vessel, respectively, and controls the vibration isolator so that the moment is canceled.

[0078] According to the storage tank transfer system described in Appendix 3, it becomes possible to transfer the floating body and the recovery vessel in a way that cancels out their moments, for example. Therefore, stable energy transfer is possible even when both the transferor and receiver are at sea.

[0079] [Note 4] The storage tank transfer system described in Appendix 4 is the storage tank transfer system described in any one of Appendix 1 to 3, wherein the transfer control mechanism cancels the moment by also considering the weight change of the storage tank associated with the transfer between the floating body and the energy recovery location.

[0080] According to the storage tank transfer system described in Appendix 4, stable energy transfer is possible even when the weight of the floating body and the recovery site changes significantly due to the movement of the storage tank.

[0081] [Note 5] The storage tank transfer system described in Appendix 5 is the storage tank transfer system described in any one of Appendix 1 to 4, wherein the transfer mechanism includes a robotic arm having a plurality of joints, and the vibration isolator is provided on at least one of the plurality of joints.

[0082] According to the storage tank transfer system described in Appendix 5, stable energy transfer is possible even when the storage tank is transferred by a robotic arm with multiple joints.

[0083] The present invention may be modified as appropriate, without contradicting the gist or spirit of the invention as can be inferred from the claims and the specification as a whole, and a storage tank transfer system with such modifications is also included in the technical concept of the present invention. [Explanation of Symbols]

[0084] 1. Storage Tank Transfer System 100 Power generation floating structure (floating structure) 200 Recovery ships (energy recovery locations) 300 Delivery Mechanism 310 Transfer device 320 Vibration Isolator 400 Transfer control mechanism

Claims

1. A storage tank transfer system for transferring a storage tank containing a predetermined amount of energy from a floating body on the sea to an energy recovery location on the sea or on land, A transfer mechanism equipped with at least one vibration isolator having a function to cancel moments generated by external forces, A transfer control mechanism that acquires moment information relating to the moment generated in at least one of the floating body and the energy recovery location, and controls the vibration isolator of the transfer mechanism so that the storage tank is transferred while canceling the moment, Equipped with, The floating body is an unmoored power-generating floating body to which a kite used for power generation is attached, and has a kite retrieval mechanism for storing the kite when the storage tank is handed over. Storage tank transfer system.

2. The storage tank transfer system according to claim 1, wherein the energy recovery location is a recovery vessel, and the transfer control mechanism acquires the moment information with respect to the floating body and the recovery vessel and controls the vibration isolator so that the moment is canceled.

3. The storage tank transfer system according to claim 1 or 2, wherein the transfer control mechanism cancels the moment by also taking into account the weight change of the storage tank associated with the transfer between the floating body and the energy recovery location.

4. The storage tank transfer system according to claim 1 or 2, wherein the transfer mechanism includes a robotic arm having a plurality of joints, and at least one of the plurality of joints is equipped with the vibration isolator.

Images