EP2718177B1 - Method and device for compensating for a load moment and method and measuring equipment for determining the position of a load - Google Patents

Description

The present invention relates to a method for compensating a load moment on a float by applying a load torque about a rotation axis of the float by generating a balancing torque required to balance the load torque, the load being carried by a cantilever of a loader mounted on the float. The invention further relates to a device for compensating a load moment acting on a float by a load about an axis of rotation of the float, the load being carried by a cantilever of a loading device disposed on the float
at least two balance tanks arranged in pairs opposite each other,
a balancing line connecting the balancing tanks in pairs,
Displacement means for shifting a leveling fluid between the equalizing tanks via the equalizing line.

Furthermore, the present invention relates to a method for determining the position of a load, wherein the load is carried by a boom of a loading device arranged on the float.

Furthermore, the present invention relates to a measuring equipment for carrying out a method according to one of claims 8 to 9, comprising at least
a first floating body-side reference sensor for placement on the floating body for the global positioning of a floating body-side reference measuring point,
at least one load-side load sensor for global position determination of the load location measuring point for arrangement in the region of the load,
Evaluation means for reading the from the sensors
certain position data and for determining the load torque as a function of the position data with the features of claim 10.

Finally, the present invention relates to a device for carrying out the method according to one of claims 1 to 6, comprising at least
a device for generating a compensation moment required for balancing the load moment acting on the floating body, in particular the ship, about a rotation axis of the floating body,
measuring equipment for determining a position of the load relative to the float,
wherein the measuring equipment according to any one of claims 10 to 11 and / or the device for balancing according to claim 7 is / are designed.

When loading and unloading floats, ships, the loading or unloading is usually carried out over a long side, ie from port or starboard. If this is done using a loading crane located on the ship, there is the problem that the mass of the or starboard. If a loading crane arranged on the ship is used for this purpose, there is the problem that the mass of the load to be absorbed produces a momentum inducing a heeling change. In particular, this situation occurs when, for example, ships are loaded with heavy offshore constructions for laying offshore offshore equipment. For example, an offshore construction may have a mass of several thousand metric tons. When loading a ship with such an offshore construction via a crane with a boom, without countermeasures depending on the type of ship, a dangerous heeling change of, for example, 35 degrees or more may occur.

For this reason, it is known in the art to use in the loading process means for compensating for the change in heel caused by the load and / or trim change. These are known under the Anglo-Saxon term anti-heeling system and are essentially based on the fact that by shifting a ballast fluid between paired balancing tanks a counter-momentum is generated. However, this known measure to stabilize ships during loading is not optimal in extreme conditions, such as the described loading of a port or starboard offshore construction of several thousand tons. For in particular in the usual use of cranes with swiveling arms occur during the charging process, but especially during the pivoting process, very strong changes in the moments. These changes can not be sufficiently tackled with conventional anti-heeling systems. The loading process is therefore usually performed manually and therefore very slowly to the occurring torque changes, taking into account the reaction times of the anti-heeling system sure. The regulation of the inclination of the ship is carried out according to the prior art in response to metrologically determined inclination changes, such as changes in the heeling or trim of the float, if they lead to a slope outside a predetermined range, for example, 1 or 2 degrees. Due to the described shortcomings of the known methods, the charging process according to the prior art is undesirably time-consuming and may also be unsafe under unfavorable conditions.

A device for balancing a by a load on a floating body, in particular ship, acting load torque of the type mentioned is in the above-described application areas at a disadvantage only with considerable delay in a position during loading or unloading, especially when pivoting, occurring To compensate for inclination change. Not at all it is possible with the known devices to prevent a change in inclination from the outset. There is therefore a need for an improved compensation device for shortening reaction times and improving safety.

Generic methods for determining a load torque are based essentially on data that are supplied by measuring sensors on the loading crane. In particular, it is known to use angle sensors for measuring the angle between the tower and boom of the loading crane. However, these methods are disadvantageously inaccurate. Frequently, therefore, a load torque determined by the known methods is not optimally suited for further processing by shipborne systems.

The same applies to the generic measuring equipment for carrying out the method for determining a load torque.

From the WO 2010/007554 A2 For example, there is known a method for compensating a load moment acting on a float by a load about a pivot axis of the float. For this purpose, level sensors in chambers of balancing tanks for determining a heel angle of the ship are used to make a regulation of the ship's inclination in response to metrologically determined inclination changes. A regulation of the inclination of the ship thus takes place in response to measured changes in inclination, in particular changes in the heeling or trim of the float. Disadvantage must be in accordance with the WO 2010 / 007554A2 Thus, an unwanted Heel change first occur before it can be counteracted.

The present invention is therefore based on the object to improve a method for balancing the aforementioned type and an associated apparatus for its implementation to the effect that a loading or unloading can be performed faster and safer.

With regard to the method for determining the position of a load and the corresponding measuring equipment of the type mentioned above, the present invention has the object to enable a more accurate position determination in order to use the position of the load as an input variable for control loops can.

The object directed to the method for compensating a load torque of the type mentioned is achieved by the combination of features of claim 1, wherein in such a method, a position of the load is determined relative to the float and in dependence on the determined position, the balancing torque is determined. Thus, according to the invention, it is advantageously possible to achieve an improved torque compensation by determining the position of the load relative to the floating body. Because instead of reacting as usual in the prior art, only on an already measurable detectable change in inclination by the generation of opposing moments, it allows the method according to the invention with the knowledge of the position of the load already use the change in the moment causing change in order to early the required To generate compensation torque. The moment of inertia of the float in response to changes in the load torque thus plays no role according to the invention. Means for compensating for a change in inclination can be activated in this way with advantage early, so that in the best case, the charging can run faster and safer.

In a specific embodiment of the invention, the position of the load can be determined by a camera in conjunction with image processing.

In a preferred embodiment of the method according to the invention it is provided that for determining the load torque relative to a rotational axis of the floating body, a mass of the load is determined and then the compensation torque is determined in dependence on the load torque. Thus, from the position and the mass of the load, a moment of the load is calculated relative to a rotational axis of the floating body, which is used to activate a system for generating a balancing torque. To determine the mass of the load can be used in the context of the invention, for example, a change in draft when picking up the load.

If, in a further advantageous embodiment of the invention, temporal changes in the position of the load and / or the load torque are determined, a compensating torque required to compensate for the expected change in inclination can be determined early in order to further reduce the reaction time for the inclination compensation.

In particular, according to the invention, a compensating liquid can be displaced between at least two compensating tanks arranged in pairs opposite one another by means of a compensating pipe connecting the balancing tanks in pairs to generate the balancing torque. The required flow rate of the compensating liquid to be displaced is determined according to the invention on the basis of the determined position of the load.

Depending on the design of the balancing tanks and the mass of the load to be loaded, several pairs can also be used within the scope of the invention be used by balancing tanks to provide the necessary flow of compensation fluid to generate a counter-torque.

According to a preferred embodiment of the method according to the invention, the compensating fluid is displaced by means of compressed air. For this purpose, in particular, air can be blown into the equalizing tanks in order to press their contents via the compensation line in the opposite tank. The use of compressed air is advantageous in this context, since a quick response to load changes of the float is possible. In addition, it is relatively easy to vary the pressure of the compressed air in order to achieve a continuous control of the flow rate of the compensation liquid. In addition, by means of control devices in the compressed air system, for example, a deceleration of a compensating liquid flow in the compensating line can also be effected in order to further reduce the reaction time of the control as a whole in accordance with the invention.

In another advantageous embodiment of the method according to the invention, the compensation liquid is moved by means of a pumping operation.

In this context it is advantageous to pump with variable flow. In contrast, in conventional anti-heeling systems merely provided that the pumps are turned on, then operated at a certain fixed speed and are switched off again when reaching a predetermined heeling in one of the balance tanks. By providing a variable flow operation according to the invention, the compensation of the load moments during the loading and unloading process can be equally refined as well as the reaction time can be shortened.

The inventive method is further improved by the compensation liquid flow is delayed, braking energy, preferably electrically, destroyed and / or fed back. In the context of the invention, this can preferably be achieved by using pumps in turbine operation and thereby delaying the equalizing liquid flow.

According to the invention, the pumps can in particular be configured as asynchronous machines and can be controlled by a frequency converter, wherein an electrical braking resistor is arranged in a DC link, which is switched on only in turbine mode. The pumps should be reversibly operable and may be designed in the context of the invention preferably as an axial pump.

In a further development of the method according to the invention, a flow rate of a compensating fluid required for generating the balancing torque is determined.

In a preferred embodiment of the method according to the invention, temporal changes of the instantaneous fill level of at least one pair of the equalization tanks and / or a flow rate through the equalization line are measured. These can be taken into account with advantage in the generation of the balancing torque. On the basis of the levels, the instantaneous compensation torques can be determined in order to calculate, by comparison with the instantaneous position of the load relative to the float, which additional compensation torque is needed to maintain the inclination of the ship within a predetermined angular range.

If, according to the invention, the compensation torque is additionally determined as a function of at least one value characterizing the draft of the floating body, the inventive Further improved method for a safe and rapid loading of heavy loads. For the detection of changes in the draft during the recording of a load allows the determination of the mass of the load, which in turn can be used to determine the load torque.

In order to obtain a plausibility check for the compensation method according to the invention, the compensation torque determined according to the invention can be compared with a comparison value determined by means of a reference method and, in the case of a deviation, determined whether it lies outside a given tolerance interval, the reference method preferably a direct measurement of the Inclination angle of the floating body comprises about a rotation axis. By comparing with a reference method, it is possible to avoid that, for example, in the case of a disturbance of the satellite system used for determining the position, the then incorrectly determined load torque is used to determine a compensation torque. If the measurement of the inclination angle of the floating body is used as the reference method, the inclination can be measured in particular advantageously with an initial angle sensor. If, for example, during a loading process, the angle sensor detects a change in the inclination of the floating body, this can be interpreted according to the invention as an indication that a wrong balancing torque has been determined.

In a further development of the invention, a planned future position of the load is determined from a predetermined load path, the compensation torque being determined as a function of the determined future position. For example, in the context of the invention, the load path of a loading crane control, in which said Load path is stored as a default, are taken, after which the loading crane has to move the load. The orientation on the load path allows for early planning and timely generation of the balancing torque.

The object directed to a device for compensating a load torque of the type mentioned above is achieved by the feature combination of claim 7, wherein the displacement means are designed to generate a variable flow through the compensation line. In contrast to conventional anti-heeling systems, in which the pumps are operated in a 2-point constant-speed control operation until reaching a cut-off value, the inventive design of pumps with a variable flow mode enables more precise generation of a balancing torque shorter reaction time. According to the invention, the displacement means may also comprise an air blower which is likewise suitable for varying a variable flow through the compensation line by varying the air pressure generated above the waterline in the equalizing tanks.

In an embodiment of the device according to the invention, the displacement means for braking a compensation fluid flow between the surge tanks are formed. Also, this measure according to the invention allows faster compensation of changed load moments during charging by faster and more precise balancing torque can be adjusted.

In the device according to the invention, the displacement means comprise a variable-frequency controllable, preferably operable in a four-quadrant operation, pump, with a braking resistor in the intermediate circuit and / or with means for feeding back into a vehicle electrical system. The braking resistor can be switched according to the invention, when the pump is to be operated in turbine mode.

The method for determining the position of a load of the type mentioned according to claim 8 is achieved according to the invention with a method which comprises a global position determination of a arranged on the float body side reference measuring point and at least one load side arranged Lastortmesspunktes. The position determination can be done in particular with GPS sensors. This measuring method according to the invention enables such a reliable position determination that the position of the load determined with the method according to the invention can advantageously be used as an input for different controllers.

The simultaneous global positioning, ie position determination of the spatial coordinates relative to the earth, a reference measuring point on the float and a Lastortmesspunktes in the load allows with knowledge of the location of the measuring points relative to the float or relative to the load in particular the determination of a lever arm of the load and thus knowing the mass of the load of a moment on the float. The global positioning can be done in particular by means of GPS sensors. It provides very precise values, which allow the consideration of the distance of the load to the reference point as input value of, for example, an anti-heeling system.

Preferably, at least one reference side of the floating body is arranged on a mast-like tower of the loading device extending from a loading surface of the floating body.

It is advantageous in the context of the invention, when the distance between a first and a second floating body-side reference measuring point is as large as possible. Correspondingly, a reference point on the body of the swimmable body should preferably be arranged on the top of the crane and another as possible on the deck of the floating body. The relative error that occurs in the load torque determination is minimized in this way.

It is particularly advantageous in a further advantageous embodiment of the method according to the invention for determining the position when the load location measuring point is arranged on the load itself and / or on the boom. In particular, the attachment of a sensor for the global positioning of the load itself also makes it possible to determine whether the load, for example, due to swell swings on the loading crane. The detection of the global position of the point of the load suspension is advantageous because at this point the weight of the load acts and acts on the float.

The method according to the invention is used for determining a load moment acting on the floating body by a load about an axis of rotation of the floating body. The load torque determined in this way according to the invention can be used to advantage for the control of loading operations.

According to the inventive method for determining the position, a global position determination of a second floating body-side reference measuring point arranged at a distance on a reference line is carried out for determining the load torque, wherein the distance of the load location measuring point from the reference line is calculated. This measure makes it possible to load changes due to changes in position of the mass relative to the float regardless of to determine a resulting change in inclination of the float.

According to the invention, since the positional position data used to control the loading device is used to maintain a desired load path traveled by the load carried by the pivotable boom by means of the loading device, the loading operation can be optimized. In particular, the high quality of the position data of the load, in particular the location of the load suspension, determined by the method according to the invention makes it possible to move the load by means of a control along a load path in which changes in the load torque are selected such that a loading or unloading operation is particularly secure can be designed for the loading or unloading float.

If, in an embodiment of the invention, the load is moved horizontally and / or vertically by means of the loading device, wherein in particular the boom is pivoted about a vertical axis and / or displaced about a horizontal axis, a load path can be optimized in particular with respect to changes in the load torque.

The load path is inventively chosen such that the load torque varies uniformly about a rotational axis of the float when moving the load along the load path. In this way, the zigzag-type load paths occurring during manual execution of loading and unloading operations and the associated uneven changes in the load torque are avoided. This simplifies the compensation of the load torque with compensation torques and thus improves the safety of loading and unloading operations.

It is particularly favorable if, in an embodiment of the invention, the load path is selected as the shortest path between a position of the load when picking up and a position during picking. When using a crane for moving the load, it is primarily on the way that travels the place of the load suspension, on which the weight of the load attacks. Changes in the vertical position of the load itself by changing the pitch have less influence. In the context of the invention, load path is therefore to be understood in particular as the path that the point at which the weight of the load acts travels. In many cases this will be the point of a boom where the rope leads to the load. In this sense, the shortest load path with respect to the horizontal is a straight line connecting the position of the load when picking up and that at the time of picking up, unless there are obstacles in the way, such as ship body or other load.

• einen ersten schwimmkörperseitigen Referenzsensor zur Anordnung auf dem Schwimmkörper für die globale Positionsbestimmung eines schwimmkörperseitigen Referenzmesspunktes,
• einen lastseitigen Lastsensor für die globale Positionsbestimmung des Lastortmesspunktes zur Anordnung im Bereich der Last,

Auswertemittel zum Auslesen der von den Sensoren bestimmten Positionsdaten.The object directed to a measuring equipment is achieved with a measuring equipment according to claim 1, which comprises at least:

• a first floating body-side reference sensor for placement on the floating body for the global positioning of a floating body-side reference measuring point,
• a load-side load sensor for global position determination of the load location measuring point for arrangement in the region of the load,

Evaluation means for reading the position data determined by the sensors.

In the context of the invention, the sensors can be designed in particular for receiving and evaluating signals of a satellite system, in particular GPS. Preferably, they are designed as GPS¬ sensors.

The evaluation means are designed according to the invention for determining the load torque as a function of the position data. For this purpose, the mass of the load is either used as a parameter or measured by a suitable method.

The measuring equipment according to the invention is further improved if a second floating body-side reference sensor is provided for arrangement at a distance on a reference line to the first floating body-side reference sensor, wherein the evaluation means are preferably configured to calculate the distance of the Lastortmesspunktes from the reference line.

A further improvement of the measuring equipment according to the invention is obtained if it comprises further sensors for the global position determination for the arrangement at further floating body-side and / or load-side measuring points. In particular, sensors may be provided for attachment to the outer end of the jib of the crane and on the load itself. Based on a sensor on the load itself, it is advantageously possible according to the invention to determine whether the load oscillates.

According to the invention, since means are provided for transmitting position-determining data to a control device of a charging device, the charging device can automatically handle the charging process on the basis of the position data. In particular, a desired load path can be predetermined, which is maintained by the control device.

• eine Vorrichtung zum Erzeugen eines zum Ausgleichen des Lastmoments erforderlichen Ausgleichsmoments,
• eine Messausrüstung zum Ermitteln einer Position der Last relativ zum Schwimmkörper,

wobei die Messausrüstung nach einem der Ansprüche 10 bis 11 und/oder die Vorrichtung zum Ausgleichen nach Anspruch 7 ausgestaltet ist/sind.Finally, the object directed to an apparatus for carrying out the method according to one of claims 1 to 6 is achieved by such a device, which comprises at least:

• a device for generating a balancing torque required for balancing the load torque,
• measuring equipment for determining a position of the load relative to the float,

wherein the measuring equipment according to any one of claims 10 to 11 and / or the device for balancing according to claim 7 is / are designed.

The invention will be described by way of example in a preferred embodiment with reference to a drawing, wherein further advantageous details are shown in the figures of the drawing.

Functionally identical parts are provided with the same reference numerals.

Figur 1:

schematische Darstellung eines Schiffes mit einem drehbaren Ladekran und einer an dem Ladekran hängenden Last (a) in einer Seitenansicht in Blickrichtung auf das Heck und (b) in Blickrichtung von oben zur Veranschaulichung der Messpunkte für die Durchführung einer Lagebestimmung gemäß einer bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens, welche erfindungsgemäß zur Neigungsregelung nach dem erfindungsgemäßen Verfahren verwendet wird;

Figur 2:

schematische Darstellung einer bevorzugten Ausgestaltung einer erfindungsgemäßen Vorrichtung zum Ausgleichen einer durch eine schwere Last verursachten Krängungsänderung in Blickrichtung der Längsachse eines Schiffes.

The figures of the drawing show in detail:

FIG. 1:

schematic representation of a ship with a rotating loading crane and a hanging on the loading crane load (a) in a side view in the direction of the rear and (b) viewed from above to illustrate the measuring points for performing a position determination according to a preferred embodiment of the method , which is used according to the invention for tilt control according to the inventive method;

FIG. 2:

schematic representation of a preferred embodiment of a device according to the invention for compensating a caused by a heavy load heeling change in the direction of the longitudinal axis of a ship.

The FIG. 1 schematically shows a side view of the stern of a ship 1. The ship 1 has starboard on a likewise only schematically illustrated loading crane 2. The loading crane 2 is attached to a tower 3 on a loading area 4 of the ship 1. The tower 3 with the boom 5 is rotatable about its longitudinal axis. From the tower 3 of the loading crane 2, a boom 5 extends with a cable guide, not shown. At the outer end of the boom 5 of the loading crane 2, a heavy load 7 is attached to a support member 6 in a manner not shown. The boom 5 can be angularly adjusted in the usual manner relative to the vertical axis of the tower 3. The schematically dargstellte ship 1 floats in the water with a defined by the waterline 8 draft. The ship 1 is inclined on the port side with a center line 9 with respect to the vertical line 10 by a heeling angle 11.

In the in the FIGS. 1 (a) and 1 (b) shown situation, the load 7 is held on the support cable 6 via the boom 5 such that the entire weight force is applied to the loading crane 2.

In the area of a tip of the tower 3, a first GPS reference sensor 12 is arranged, which is shown only schematically. Further, a further GPS reference sensor 14 in the region of the carrying part 6 is arranged at the outer end of the boom 5. In addition, a GPS load sensor 15 is attached directly to the load 7. In addition, as in FIG. 1 (b) to recognize in the Near the bug a third GPS reference sensor 17 and a fourth GPS reference sensor 18 attached.

The FIG. 2 schematically shows a preferred embodiment of a device for compensating for a heel change in the form of an anti-heeling system 19. The anti-heeling system 19 consists essentially of a port side balancing tank 20 and a similar starboard side surge tank 21. The surge tanks 20, 21 are as Couple arranged in the hull. The surge tank 20 on the port side is connected via a compensation line 22 to the surge tank 21 on the starboard side. The equalizing line 22 connects the equalizing tanks 20, 21 via openings in the vicinity of the tank bottom. Both balancing tanks 20, 21 are provided with level knives 23, 24. Within the compensation line 22, a reversibly operable propeller pump 25 is arranged. The reversibly operable propeller pump 25 is connected to a frequency converter 26 and controlled by this frequency variable. The frequency converter 26 has an only schematically indicated braking resistor 27 in an intermediate circuit. With the help of the frequency converter 26, the propeller pump 25 is operable in four-quadrant operation. This means that the propeller pump 25 can be operated at variable speed to produce a variable flow through the equalization line between the surge tanks 20, 21. Moreover, due to the characteristics of the frequency converter 26, the propeller pump 25 can also be operated in turbine mode to brake a flow in the equalizing line 22 and thus regulate the flow through the equalizing line of the anti-heeling system 19. Stopping the flow through the equalization line 22 is also possible by closing a butterfly valve 28th

The frequency converter 26 is connected to a control and regulation device 29, which controls the propeller pump 25 via the frequency converter 26. The control and regulating device 29 is configured to calculate a load torque generated by a load 7 and to generate a control command required therefor to the propeller pump 25. For this purpose, the control and regulating device 29 also accesses measured data from the GPS sensors 12, 13, 14, 15, 17, 18 and calculates a load moment of the load 7 on the loading crane from them in a manner which is well known to a person skilled in the art second

To carry out the method according to the invention for loading, it is possible to proceed as follows in a preferred embodiment. First, the ship 1 is tilted to port by a heeling angle 11 between the center line 9 and the vertical line 10 by means of the anti-heeling system 19. For this purpose, no signals of the GPS sensors 12, 14, 15, 17, 18 are needed. In the next step, the carrying member 6 is attached to the load 7 and tensioned. For tightening the rope mechanism of the loading crane 2 is operated until the ship 1 is inclined by about the amount of heeling angle 11 to starboard. Here is the load 7 on land or on a floating pontoon or the like. Subsequently, the load is raised by means of the anti-heeling system 19 by the anti-heeling system 19 generates a corresponding moment with the compensation liquid. As the load 7 is raised, changes in draft are measured in a manner known per se. From the measured change in draft, the mass of the lifted load 7 is calculated. This process step is carried out until the load 7 is completely suspended on the carrying part 6 of the loading crane 2. The mass of the load 7 determined from the change in draft is fed to the control device 29 for the determination of the load torque. As a result, the Load with the rope mechanism of the loading crane 2 further raised. In principle, an activation of the anti-heeling system 19 is not required because the load torque does not change.

Both for the previous tilting to port and for lifting the load, the control and regulation device 29 is operated essentially as a two-point control for the propeller pump 25 by the propeller pump 25 is turned on until about the level gauge 23, 24 each required level has been achieved.

In the next step, the loading crane 2 is pivoted about the longitudinal axis of the tower 3. In this phase, the control and regulating device 29 is operated in the load torque mode. In the load torque mode, the control and regulation device 29 determines the required compensation torque on the basis of the measured values from the GPS sensors 12, 13, 14, 15, 17, 18 and the mass of the load 7 and regulates the propeller pump 25 accordingly via the frequency converter 26. In this way, the anti-heeling system 19 can already respond to changes in the load torque before the ship 1 has reacted with a change in the heel angle 11.

The principle of the invention can equally be used for the regulation and control of the inclination of the ship about the transverse axis. In this case, an evaluation of the load torque with respect to the transverse axis can also be used advantageously in order to allow a compensation system to react early.

Referring again FIG. 1 (b) Below is a preferred embodiment of a method according to the invention for Optimization of a load path during loading and unloading of the load 7 is illustrated. According to the in FIG. 1 (b) As shown by way of example application of the method, the load 7 is to be moved from a receiving location 34 on which the load 7 is received by the loading crane 2 to the depositing point 31 on the loading area 4 of the ship 1.

This can be done in different ways. For example, the load along the in FIG. 1 (b) marked with reference numeral 30 load path. In the load path 30, a pivoting movement of the boom 5 of the loading crane 2 takes place about the axis of the tower 3. First, the load path 30 is initially in the form of a circular arc section. Subsequently, the load 7 is moved in the radial direction on the axis of the tower 3 at a constant pivot angle of the boom 5 by changing the angle between the boom 5 and the tower 3. The subsequent lowering of the load 7 on the loading surface 4 by extending the rope is in the plan view according to FIG. 1 (b) not recognizable.

The load path 30 is not optimal. On the one hand, the load path 30 in the temporal decoupling of a pivoting movement and a movement radially on the pivot axis to longer than absolutely necessary. On the other hand, the load moment exerted on the ship 1 by the load 7 varies unevenly along the load path 30. This complicates the generation of a balancing torque during the loading process.

In practice, a load path 32 is therefore often selected in manual operation of the loading crane 2. Although in the load path 32, the pivoting movement and the radial movement are also decoupled, but always follows a pivoting movement by a small angle a radial movement about a small path, so that the load path 32 relative to the above-sketched load path 30 significantly shortened. The load path 32 is thus indeed shorter than the load path 30. However, the temporal change in the load torque resulting from moving the load 7 along the load path 32, which the load 7 exerts on the ship 1, is irregular. Accordingly, the compensation of the load torque required for a secure loading operation is comparatively difficult to realize.

A load path optimized both in terms of path length and in terms of the uniformity of changes over time of the load torque is the load path 31 in accordance with FIG FIG. 1 (b) , In this load path 31, a radial movement to the tower 3 and a pivoting movement about the axis of the tower 3 is carried out simultaneously such that the load is moved in a straight path from the receiving location 34 to the storage location 33. In the load path 31 thus made uniform changes in the load torque, which can be easily compensated by the anti-heeling system. When moving the load 7 along the load path 31, the loading can therefore be carried out particularly safely and quickly. In order to be able to comply with the optimized load path 31, however, a crane control is required which requires an exactly determined position of the load as an input variable. This position can be obtained by determining the position of, in particular, the GPS load location sensor 14 relative to the GPS reference sensor 12. With the method according to the invention for position determination, these position data are available and can be used with advantage as an input variable for a control of the loading crane 2. In this way, the control of the loading crane 2 can spend the load 7 along the optimized load path 31 from the receiving location 34 to the storage location 33.

With reference to the figures, a method for loading on a longitudinal side according to the invention was thus explained, in which a position of the load is determined relative to the floating body to a function of the determined position, a target size for an anti-heeling system determine. Also, a preferred embodiment of a device for balancing according to the invention has been explained.

Finally, a method for determining a load torque relative to a float and associated measurement equipment for carrying out this method have been explained. By including the load torque in the control on the one hand and the ability of the compensation system to generate a variable flow and to slow down the flow on the other side can advantageously according to the invention in loading particularly critical pivoting of the loading crane in conventional anti-buckling Heeling systems are bypassed for this application problematic inertia.

LIST OF REFERENCE NUMBERS

1

ship

2

ladekran

3

tower

4

load area

5

boom

6

carrying rope

7

load

8th

waterline

9

center line

10

vertical line

11

heeling

12

first GPS reference sensor

14

GPS-location sensor load

15

GPS-location sensor load

16

bow

17

third GPS reference sensor

18

fourth GPS reference sensor

19

Anti-heeling system

20

balance tank

21

balance tank

22

compensation line

23

level meter

24

level meter

25

propeller pump

26

frequency converter

27

braking resistor

28

butterfly valve

29

Control and regulation device

30

load path

31

load path

32

load path

33

storage location

34

Location

Claims (12)

1. Method for compensating a load moment about an axis of rotation of a floating body, which load moment acts on the floating body through a load, by a compensation moment necessary for compensating the load moment being produced, the load being carried by an extension arm (5) of a loading apparatus (2) arranged on the floating body (1), characterised in that a position of the load (7) relative to the floating body (1) is identified by means of global position determination of a floating-body-side reference measurement point (12) arranged on the floating body (1) and of at least one load-side load location measurement point (14, 15), and the compensation moment is determined on the basis of the identified position.
2. Method according to claim 1, characterised in that a mass of the load is identified in order to determine the load moment relative to an axis of rotation of the floating body (1) and the compensation moment is subsequently determined on the basis of the load moment.
3. Method according to either claim 1 or claim 2, characterised in that temporal changes to the positon of the load (7) and/or to the load moment are identified.
4. Method according to any of the preceding claims, characterised in that the compensation moment is additionally determined on the basis of at least one value characterising the draught of the floating body (1).
5. Method according to any of the preceding claims, characterised in that the identified compensation moment is compared with a comparative value identified by means of a reference method and, in the event of an anomaly, it is ascertained whether said anomaly lies outside a given tolerance interval, the reference method preferably comprising a direct measurement of an angle of inclination (11) about an axis of rotation of the floating body.
6. Method according to any of claims 1 to 5, characterised in that a planned future position of the load is identified from a predetermined load path, the compensation moment being determined on the basis of the identified future position.
7. Apparatus (19) for compensating a load moment about an axis of rotation of a floating body (1), which load moment acts on a floating body through a load (7), the load being carried by an extension arm (5) of a loading apparatus (2) arranged on the floating body (1), comprising

   - at least two compensation tanks (20, 21) arranged in pairs opposite one another,

   - a compensation line (22) connecting the compensation tanks (20, 21) in pairs,

   - pushing means (25) for pushing a compensation fluid between the compensation tanks (20, 21) via the compensation line (22),

   characterised in that the pushing means are designed to produce a variable through-flow through the compensation line, the pushing means comprising a pump (25) which can be controlled at variable frequencies, can be preferably operated in a four-quadrant operation and comprises a brake resistor (27) in the intermediate circuit and/or comprises means for feedback into an on-board network, the apparatus further comprising

   - a first floating-body-side reference sensor (12) to be arranged on the floating body for the global position determination of a floating-body-side reference measurement point,

   - at least one load-side load sensor (14, 15) to be arranged in the region of the load (7) for the global position determination of the load location measurement point, and

   - analysis means (29) for reading out the position data determined by the sensors (12, 14, 15, 17, 18).
8. Method for determining the position of a load, the load (7) being carried by an extension arm (5) of a loading apparatus (2) arranged on the floating body (1), characterised in that said method comprises a global position determination of a floating-body-side reference measurement point (12) arranged on the floating body (1) and of at least one load-side load location measurement point (14, 15),
   said method being used to identify a load moment about an axis of rotation of the floating body (1), which load moment acts on the floating body through a load (7), a global position determination of a second floating-body-side reference measurement point (13) arranged at a distance on a reference line (9) being carried out in order to identify the load moment, the distance of the load location measurement point (14, 15) from the reference line (9) being calculated, the position data obtained from the position determination being used to control the loading apparatus (2) in order to keep to a desired load path, which is covered by the load, carried by the pivotable extension arm (5), by means of the loading apparatus, the load path being selected in such a way that the load moment about an axis of rotation of the floating body (1) varies in a uniform manner when the load is moved along the load path.
9. Method according to claim 8, characterised in that the load path is selected as the shortest path between a position of the load in which said load is picked up and a position in which said load is put down.
10. Measuring equipment for carrying out a method according to any of claims 8 to 9, at least comprising

    - a first floating-body-side reference sensor (12) to be arranged on the floating body for the global position determination of a floating-body-side reference measurement point,

    - at least one load-side load sensor (14, 15) to be arranged in the region of the load (7) for the global position determination of the load location measurement point,

    - analysis means (29) for reading out the position data determined by the sensors (12, 14, 15, 17, 18), the analysis means (29) being designed to identify the load moment on the basis of the position data, wherein
    means for transmitting data relating to the position determination to a control device of a loading apparatus are provided.
11. Measuring equipment according to claim 10, characterised in that a second floating-body-side reference sensor (13) to be arranged on a reference line at a distance from the first floating-body-side reference sensor (12) is provided, the analysis means (29) being designed to calculate the distance of the load location measurement point from the reference line.
12. Apparatus for carrying out the method according to any of claims 1 to 6, at least comprising

    - an apparatus for producing a compensation moment necessary for compensating the load moment,

    - measuring equipment for identifying a position of the load (7) relative to the floating body (1),

    - wherein the measuring equipment is designed according to any of claims 10 to 11 and/or the apparatus (19) for compensating is designed according to claim 7.

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