Vessel, Motion Platform, Method for Compensating Motions of a Vessel and Use of a Stewart Platform

• US 20150375836A1
• Filed: 09/02/2015
• Published: 12/31/2015
• Est. Priority Date: 03/01/2006
• Status: Active Grant

• Current Assignee: Ampelmann Holding B.V.
• Original Assignee: Ampelmann Holding B.V.
• Inventors: van der Tempel, Jan, Salzmann, David Julio Cerda, Koch, Jillis, Gerner, Frederik, Gobel, Arie Jan
• Granted Patent: US 9,487,277 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B63B 17/00 Vessels parts, details, or accessories, not otherwise provided for vehicle fittings for preventing or indicating unauthorised use or theft of vehicles in general B60R25/00; propeller guards, line cutters or other means for protecting propellers or rudders B63H5/165; protection of power legs of outboard propulsion units B63H20/36; locking devices for boats, surfboards or parts or accessories thereof E05B73/007
• CPC Class Codes: B63B 2017/0072 Seaway compensators
• CPC Class Codes: B63B 27/14 of ramps, gangways or outboard ladders ; Pilot lifts
• CPC Class Codes: B63B 27/30 Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
• CPC Class Codes: B63B 39/00 Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for amphibious vehicles B60F3/0038
• CPC Class Codes: B63B 39/02 to decrease vessel movements by displacement of masses
• CPC Class Codes: B66C 13/02 Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water handling live-boats B63B; salvaging, or hauling-out on slipways, waterborne vessels B63C; winding mechanism controls B66D1/52
• CPC Class Codes: B66F 7/20 by several jacks with means for maintaining the platforms horizontal during movement

Abstract

A computer program for compensating for motion of a boat as it floats on water includes computer code for causing a processor to receive motion measurements of the boat floating on water relative to another element in an area surrounding the boat, and generate driving signals for driving actuators operatively associated between the boat and at least one carrier based on motion of the boat, wherein the actuators hold the at least one carrier substantially stationary relative to the element based on the driving signal.

Claims

1. A computer program product for compensating for motion of a boat as it floats on water, the computer program product comprising non-transitory computer readable code for causing a processor to:

receive motion measurements of the boat floating on water relative to at least one other element in an area surrounding a boat; and

generate driving signals based on the motion measurements, wherein the driving signals are configured to;

drive the actuators to hold at least one carrier substantially stationary relative to at least one other element in an area surrounding a boat, wherein the actuators are operatively associated between the boat and the at least one carrier, wherein the actuators move the at least one carrier relative to the boat based on the driving signal.

2. The computer program product according to claim 1, further comprising non-transitory computer readable code for causing a processor to

determine if a change in the weight of a load and the at least one carrier has occurred;

and

generate a second set of driving signals if a change in the weight of the load and the at least one carrier has occurred, wherein the second set of driving signals cause the at least one at least partly passive pressure element to relieve weight on the actuators by at least partly bearing the weight of the load and the at least one carrier, wherein the at least one at least partly passive pressure element applies a counter-pressure on the at least one carrier.

3. The computer program product according to claim 1, wherein the driving signal is further configured to anticipate a delay or reversal of a motion of the boat.

4. A control system for compensating for motion of a boat as it floats on water, the control system comprising:

at least one microprocessor operatively coupled to at least one motion sensor, and one or more actuators;

system memory comprising non-transitory computer readable media, the non-transitory computer readable media containing machine-readable instructions, which, when read by the at least one microprocessor, causes the at least one microprocessor to;

receive motion measurements of the boat floating on water relative to at least one other element in an area surrounding the boat;

generate driving signals for driving the one or more actuators, based on the motion measurements; and

drive the one or more actuators to hold at least one carrier substantially stationary relative to the at least one other element in the area surrounding the boat, the one or more actuators being operatively associated between the boat and the at least one carrier, wherein the one or more actuators move the at least one carrier relative to the boat based on the driving signal.

5. The control system of claim 4, wherein the non-transitory computer readable media further comprises instructions, which, when ready by the at least one microprocessor, causes the at least one microprocessor to:

determine if a change in the weight of a load and the at least one carrier has occurred; and

generate a second set of driving signals if a change in the weight of the load and the at least one carrier has occurred, wherein the second set of driving signals cause the at least one at least partly passive pressure element to relieve weight on the actuators by at least partly bearing the weight of the load and the at least one carrier, wherein the at least one at least partly passive pressure element applies a counter-pressure on the at least one carrier.

6. The control system according to claim 4, wherein the one or more actuators comprise six hydraulic cylinders, wherein the driving signals are configured to hold the at least one carrier substantially stationary relative to the at least one other element in the area surrounding the boat.

7. The control system according to claim 4, further comprising a drive coupled to the at least one microprocessor, wherein the non-transitory computer readable media contain further machine-readable instructions, which when read by the at least one microprocessor causes the at least one microprocessor to:

anticipate a delay or reversal of a motion of the boat; and

generate driving signals for driving the drive based on the delay or reversal.