EP3568349B1 - Watercraft having a deck crane - Google Patents

Watercraft having a deck crane Download PDF

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Publication number
EP3568349B1
EP3568349B1 EP18700020.3A EP18700020A EP3568349B1 EP 3568349 B1 EP3568349 B1 EP 3568349B1 EP 18700020 A EP18700020 A EP 18700020A EP 3568349 B1 EP3568349 B1 EP 3568349B1
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EP
European Patent Office
Prior art keywords
watercraft
crane
movement
board crane
deck
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EP18700020.3A
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German (de)
French (fr)
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EP3568349C0 (en
EP3568349A1 (en
Inventor
Hinnerk Treyde
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ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
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ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators

Definitions

  • the invention relates to a watercraft with an on-board crane and a method for controlling it.
  • a load is placed on or picked up from the water surface by a watercraft, a distinction must be made between two phases. If the load is near the water surface (a phase), it should if possible have little or no movement relative to the water surface, in particular pendulum movement. If the load is near the side of the ship or the deck of the watercraft (other phase), it should, if possible, have little or no movement relative to the ship, in particular pendulum movement.
  • a load is placed on or picked up from a structure by a watercraft, a distinction must also be made between two phases. If the load is close to the structure (a phase), it should if possible have little or no movement relative to the structure, in particular pendulum movement. If the load is near the side of the ship or the deck of the watercraft (other phase), it should, if possible, have little or no movement relative to the ship, in particular pendulum movement.
  • From the DE 33 15 888 A1 is a crane for transferring goods from one ship to another.
  • WO 2014/123407 A1 is a motion compensator for a crane on a watercraft, where the crane can be moved in the z direction and tilted in the plane.
  • a crane is known to have six hydraulic cylinders.
  • the object of the invention is to be able to safely pick up or set down a load even at sea.
  • the watercraft according to the invention with an on-board crane has a deck.
  • the watercraft can have additional decks.
  • the onboard crane is connected to the deck of the watercraft via a base.
  • the base can be moved parallel to the deck, in particular the base can be moved two-dimensionally parallel to the deck.
  • the watercraft has at least a first motion sensor for detecting the movement of the watercraft.
  • the watercraft also has a control device, the control device serving to control the base.
  • the control device is designed to record movement data from the first movement sensor.
  • the watercraft further has a detection device for detecting the position of a crane load.
  • the control device is designed to record position data of the crane load from the detection device.
  • the movement of the base parallel to the deck is used to prevent the load from swinging up.
  • the inclusion of this translational movement of the base in the compensating movement, which is determined and controlled by the control device, enables efficient stabilization of the load.
  • a deck is understood to mean any horizontal surface on a watercraft or any (in particular horizontal) structural element of the watercraft which is suitable for absorbing the loads arising at the foot of the on-board crane, for example a flight deck or the roof of a superstructure can.
  • the on-board crane is tiltably connected to the deck of the watercraft via the base.
  • the on-board crane is rotatably connected to the deck of the watercraft via the base.
  • the on-board crane does not have a mast.
  • the onboard crane is connected directly to the deck via the base.
  • an element comparable to a mast can be integrated into the watercraft within the watercraft below the base and the deck.
  • the detection device detects the position of the crane load without contact, in particular by means of electromagnetic waves and/or sound waves.
  • the detection is particularly preferably carried out optically in the visible and/or infrared spectral range.
  • detection is carried out using radar.
  • the detection is carried out using ultrasound.
  • the detection device is located on the ship.
  • the on-board crane has a mast and a boom, the length of the boom being adjustable by means of a boom drive.
  • the control device is designed to control the tree drive. It is advantageous if not only the base of the on-board crane but also the length of the boom can be adjusted.
  • the tree is designed to be telescopic.
  • the on-board crane has a boom, the length of which can be changed by means of a boom drive.
  • the on-board crane has a rope and a rope winch, the control device being designed to control the rope winch. If the control device can also control the length of the rope, swinging can be reduced, especially if the rope runs out long.
  • a rope includes all possible embodiments with which a load can be moved by a crane, for example but not limited to ropes, ropes, cables, chains or the like.
  • control device can be integrated into the control electronics of the on-board crane.
  • the on-board crane has additional driven swivel and thrust joints.
  • step e a movement of the base parallel to the deck is taken into account as a compensating movement. Taking the translation of the base into account allows the load to be particularly well stabilized.
  • the determination of the compensating countermovement in step c) is carried out in such a way that the load in the vicinity of the water surface has, if possible, little or no movement relative to the water surface, in particular pendulum movement.
  • the determination of the compensating countermovement in step c) is preferred in such a way that the load in the vicinity of the deck of the watercraft has, if possible, little or no movement relative to the deck, in particular pendulum movement.
  • the base and/or the tree drive and/or the cable winch are controlled in step f).
  • the method additionally has the following step: g) Prediction of likely future ship movement and/or crane load movement.
  • the method is carried out in parallel with manual control of the on-board crane.
  • the method is carried out in parallel with an automatic control of the on-board crane.
  • a first watercraft 10 is shown with an on-board crane.
  • the on-board crane is connected to the deck of the watercraft 10 via a base 20, the base 20 being movable horizontally on the deck.
  • the on-board crane also has a mast 30, a boom 40 and a rope 60.
  • the crane load 50 is attached to the rope 60. Because the watercraft 10 is moving, the crane load can easily swing. Therefore, the movement of the watercraft 10 is detected with a motion sensor and the base 20 is controlled via a control device in order to prevent rocking.
  • Fig. 2 shows a second watercraft 10, which differs from the first watercraft 10 in that the tree 40 consists of a fixed tree part 42 and an extendable tree part 44. This allows the length of the tree 40 to be changed.
  • the extendable tree part 44 can be extended by means of a tree drive, the tree drive being controllable by the control device.
  • Fig. 3 shows a third watercraft 10, which has a detection device 70 in addition to the second watercraft 10.
  • the detection device 70 detects the position of the crane load 50 and sends it to the control device. This active feedback makes it possible to prevent the crane load 50 from swinging up, even in the event of external influences.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)

Description

Die Erfindung betrifft ein Wasserfahrzeug mit einem Bordkran sowie ein Verfahren zur Steuerung.The invention relates to a watercraft with an on-board crane and a method for controlling it.

Im Offshore-Bereich und insbesondere bei militärischen Schiffen ist es regelmäßig notwendig, Lasten auf hoher See aufzunehmen oder abzusetzen. Dieses kann beispielsweise die Übergabe von Material oder Vorräten von einem Wasserfahrzeug auf ein anderes Wasserfahrzeug oder die Übergabe von oder auf eine feste Struktur sein. Hierzu zählen aber auch das Aussetzen oder Aufnehmen eines kleineren Wasserfahrzeugs, beispielsweise eines Schlauchboots oder eines unbemannten Wasserfahrzeugs, durch ein größeres Wasserfahrzeug, beispielsweise einen Zerstörer, eine Fregatte oder eine Korvette. Bei einer solchen Aktion können sich sowohl Last als auch Wasserfahrzeug bewegen. Daher ist diese Situation nicht mit einer Entladesituation im Hafen oder einem an Land stehenden Kran vergleichbar. Insbesondere durch Seegang und Wind kommt es regelmäßig zu Schaukelbewegungen der Last, was eine Gefährdung für Mensch und Ladung darstellt.In the offshore sector and especially with military ships, it is regularly necessary to pick up or drop off loads on the high seas. This can be, for example, the transfer of material or supplies from one vessel to another vessel or the transfer from or to a fixed structure. This also includes the launching or picking up of a smaller watercraft, for example an inflatable boat or an unmanned watercraft, by a larger watercraft, for example a destroyer, a frigate or a corvette. During such an action, both the load and the watercraft can move. Therefore, this situation is not comparable to an unloading situation in the port or a crane standing on land. Rocking movements of the load occur regularly, particularly due to sea conditions and wind, which poses a danger to people and the load.

Wird eine Last von einem Wasserfahrzeug auf die Wasseroberfläche abgesetzt oder von dort aufgenommen, so sind hier zwei Phasen zu unterscheiden. Ist die Last in der Nähe der Wasseroberfläche (eine Phase), so sollte diese relativ zur Wasseroberfläche möglichst keine oder nur geringe Bewegung, insbesondere Pendelbewegung, aufweisen. Ist die Last in der Nähe der Bordwand oder des Decks des Wasserfahrzeugs (andere Phase), so sollte diese relativ zum Schiff möglichst keine oder nur geringe Bewegung, insbesondere Pendelbewegung, aufweisen.If a load is placed on or picked up from the water surface by a watercraft, a distinction must be made between two phases. If the load is near the water surface (a phase), it should if possible have little or no movement relative to the water surface, in particular pendulum movement. If the load is near the side of the ship or the deck of the watercraft (other phase), it should, if possible, have little or no movement relative to the ship, in particular pendulum movement.

Wird eine Last von einem Wasserfahrzeug auf eine Struktur abgesetzt oder von dort aufgenommen, so sind hier ebenfalls zwei Phasen zu unterscheiden. Ist die Last in der Nähe der Struktur (eine Phase), so sollte diese relativ zur Struktur möglichst keine oder nur geringe Bewegung, insbesondere Pendelbewegung, aufweisen. Ist die Last in der Nähe der Bordwand oder des Decks des Wasserfahrzeugs (andere Phase), so sollte diese relativ zum Schiff möglichst keine oder nur geringe Bewegung, insbesondere Pendelbewegung, aufweisen.If a load is placed on or picked up from a structure by a watercraft, a distinction must also be made between two phases. If the load is close to the structure (a phase), it should if possible have little or no movement relative to the structure, in particular pendulum movement. If the load is near the side of the ship or the deck of the watercraft (other phase), it should, if possible, have little or no movement relative to the ship, in particular pendulum movement.

Aus der US 2015/0360887 A1 ist eine Bewegungskompensation für einen Kran eines Wasserfahrzeugs bekannt.From the US 2015/0360887 A1 Motion compensation for a crane of a watercraft is known.

Aus der DE 10 2013 022 107 A1 ist ein Knickarmroboter auf einem Schiff bekannt.From the DE 10 2013 022 107 A1 An articulated robot on a ship is known.

Aus der DE 33 15 888 A1 ist ein Kran zum Umschlagen von Gütern von einem Schiff auf ein anderes bekannt.From the DE 33 15 888 A1 is a crane for transferring goods from one ship to another.

Aus der DE 27 37 285 A1 ist ein Verfahren zu Betrieb eines Kranes auf einem Kai bekannt.From the DE 27 37 285 A1 a method for operating a crane on a quay is known.

Aus der WO 2013/070080 A1 ist ein Wasserfahrzeug mit einem Kran bekannt.From the WO 2013/070080 A1 a watercraft with a crane is known.

Aus der WO 2014/123407 A1 ist ein Bewegungskompensator für einen Kran auf einem Wasserfahrzeug, wobei der Kran in z-Richtung bewegt und in der Ebene gekippt werden kann. Aus der CN 105 668 430 A ist ein Kran auf sechs Hydraulikzylindern bekannt.From the WO 2014/123407 A1 is a motion compensator for a crane on a watercraft, where the crane can be moved in the z direction and tilted in the plane. From the CN 105 668 430 A A crane is known to have six hydraulic cylinders.

Aus der DE102014114331 ist ein Wasserfahrzeug gemäß dem Oberbegriff des Anspruchs 6 bekannt.From the DE102014114331 a watercraft according to the preamble of claim 6 is known.

Aufgabe der Erfindung ist es, eine Last auch auf See sicher aufnehmen oder absetzen zu können.The object of the invention is to be able to safely pick up or set down a load even at sea.

Gelöst wird diese Aufgabe durch ein Verfahren zur Steuerung eines Bordkrans auf einem Wasserfahrzeug mit den in Anspruch 1 angegebenen Merkmalen sowie ein Wasserfahrzeug mit einem Bordkran mit den in Anspruch 6 angegebenen Merkmalen. Vorteilhafte Weiterbildungen ergeben sich aus den Unteransprüchen, der nachfolgenden Beschreibung sowie den Zeichnungen.This task is solved by a method for controlling an on-board crane on a watercraft with the features specified in claim 1 and a watercraft with an on-board crane with the features specified in claim 6. Advantageous further developments result from the subclaims, the following description and the drawings.

Das erfindungsgemäße Wasserfahrzeug mit einem Bordkran weist ein Deck auf. Selbstverständlich kann das Wasserfahrzeug über weitere Decks verfügen. Der Bordkran ist über eine Basis mit dem Deck des Wasserfahrzeugs verbunden. Die Basis ist parallel zum Deck bewegbar, insbesondere ist die Basis zweidimensional parallel zum Deck bewegbar. Das Wasserfahrzeug weist wenigstens einen ersten Bewegungssensor zur Erfassung der Bewegung des Wasserfahrzeugs auf. Das Wasserfahrzeug weist ferner eine Regelvorrichtung auf, wobei die Regelvorrichtung zur Ansteuerung der Basis dient. Weiter ist die Regelvorrichtung zur Erfassung von Bewegungsdaten des ersten Bewegungssensors ausgebildet. Das Wasserfahrzeug weist weiter eine Erfassungsvorrichtung zur Erfassung der Position einer Kranlast auf. Die Regelvorrichtung ist zur Erfassung von Positionsdaten der Kranlast aus der Erfassungsvorrichtung ausgebildet.The watercraft according to the invention with an on-board crane has a deck. Of course, the watercraft can have additional decks. The onboard crane is connected to the deck of the watercraft via a base. The base can be moved parallel to the deck, in particular the base can be moved two-dimensionally parallel to the deck. The watercraft has at least a first motion sensor for detecting the movement of the watercraft. The watercraft also has a control device, the control device serving to control the base. Furthermore, the control device is designed to record movement data from the first movement sensor. The watercraft further has a detection device for detecting the position of a crane load. The control device is designed to record position data of the crane load from the detection device.

Es wird somit die Bewegung der Basis parallel zum Deck ausgenutzt, um ein Aufschwingen der Last zu verhindern. Die Einbeziehung dieser Translationsbewegung der Basis in die Ausgleichsbewegung, welche durch die Regelvorrichtung ermittelt und angesteuert wird, ermöglicht eine effiziente Stabilisierung der Last.The movement of the base parallel to the deck is used to prevent the load from swinging up. The inclusion of this translational movement of the base in the compensating movement, which is determined and controlled by the control device, enables efficient stabilization of the load.

Unter einem Deck ist jede horizontale Fläche auf einem Wasserfahrzeug beziehungsweise jedes (insbesondere horizontale) Strukturelement des Wasserfahrzeugs zu verstehen, welche beziehungsweise welches geeignet ist, die am Fuß des Bordkrans entstehenden Lasten aufzunehmen, wobei es sich beispielsweise um ein Flugdeck oder das Dach eines Aufbaus handeln kann.A deck is understood to mean any horizontal surface on a watercraft or any (in particular horizontal) structural element of the watercraft which is suitable for absorbing the loads arising at the foot of the on-board crane, for example a flight deck or the roof of a superstructure can.

In einer weiteren Ausführungsform der Erfindung ist der Bordkran über die Basis kippbar mit dem Deck des Wasserfahrzeugs verbunden.In a further embodiment of the invention, the on-board crane is tiltably connected to the deck of the watercraft via the base.

In einer weiteren Ausführungsform der Erfindung ist der Bordkran über die Basis drehbar mit dem Deck des Wasserfahrzeugs verbunden.In a further embodiment of the invention, the on-board crane is rotatably connected to the deck of the watercraft via the base.

Erfindungsgemäß weist der Bordkran keinen Mast auf. Der Bordkran ist direkt über die Basis mit dem Deck verbunden. Aus statischen Gründen kann ein einem Mast vergleichbares Element innerhalb des Wasserfahrzeugs unterhalb der Basis und des Decks in das Wasserfahrzeug integriert sein.According to the invention, the on-board crane does not have a mast. The onboard crane is connected directly to the deck via the base. For static reasons, an element comparable to a mast can be integrated into the watercraft within the watercraft below the base and the deck.

In einer weiteren Ausführungsform der Erfindung erfasst die Erfassungsvorrichtung die Position der Kranlast berührungslos, insbesondere mittels elektromagnetischer Wellen und/oder Schallwellen. Besonders bevorzugt erfolgt die Erfassung optisch im sichtbaren und/oder infraroten Spektralbereich. Alternativ erfolgt die Erfassung mittels Radar. Weiter alternativ erfolgt die Erfassung mittels Ultraschall.In a further embodiment of the invention, the detection device detects the position of the crane load without contact, in particular by means of electromagnetic waves and/or sound waves. The detection is particularly preferably carried out optically in the visible and/or infrared spectral range. Alternatively, detection is carried out using radar. Alternatively, the detection is carried out using ultrasound.

In einer weiteren Ausführungsform der Erfindung befindet sich die Erfassungsvorrichtung am Schiff.In a further embodiment of the invention, the detection device is located on the ship.

In einer weiteren Ausführungsform der Erfindung weist der Bordkran einen Mast und einen Baum auf, wobei der Baum mittels eines Baumantriebs längenveränderbar ist. Die Regelvorrichtung ist zur Ansteuerung des Baumantriebs ausgebildet. Es ist vorteilhaft, wenn nicht nur die Basis des Bordkrans sondern auch die Länge des Baumes regelbar ist. Insbesondere ist der Baum teleskopierbar ausgeführt.In a further embodiment of the invention, the on-board crane has a mast and a boom, the length of the boom being adjustable by means of a boom drive. The control device is designed to control the tree drive. It is advantageous if not only the base of the on-board crane but also the length of the boom can be adjusted. In particular, the tree is designed to be telescopic.

In einer weiteren Ausführungsform der Erfindung weist der Bordkran einen Baum auf, wobei der Baum mittels eines Baumantriebs längenveränderbar ist.In a further embodiment of the invention, the on-board crane has a boom, the length of which can be changed by means of a boom drive.

In einer weiteren Ausführungsform der Erfindung weist der Bordkran ein Seil und eine Seilwinde auf, wobei die Regelvorrichtung zur Ansteuerung der Seilwinde ausgebildet ist. Kann die Regelvorrichtung zusätzlich die Seillänge steuern, kann ein Schwingen insbesondere lang auslaufendem Seil vermindert werden.In a further embodiment of the invention, the on-board crane has a rope and a rope winch, the control device being designed to control the rope winch. If the control device can also control the length of the rope, swinging can be reduced, especially if the rope runs out long.

Ein Seil umfasst im Sinne der Erfindung alle möglichen Ausführungsformen mit denen eine Last durch einen Kran bewegt werden kann, beispielsweise aber nicht beschränkt auf Seile, Taue, Kabel, Ketten oder dergleichen.For the purposes of the invention, a rope includes all possible embodiments with which a load can be moved by a crane, for example but not limited to ropes, ropes, cables, chains or the like.

In einer Ausführungsform kann die Regelvorrichtung in die Steuerungselektronik des Bordkrans integriert sein.In one embodiment, the control device can be integrated into the control electronics of the on-board crane.

In einer weiteren Ausführungsform hat der Bordkran noch weitere angetrieben Dreh- und Schubgelenke.In a further embodiment, the on-board crane has additional driven swivel and thrust joints.

In einem weiteren Aspekt betrifft die Erfindung ein Verfahren zur Steuerung eines Bordkrans. Das Wasserfahrzeug weist ein Deck auf. Der Bordkran weist keinen Mast auf und ist über eine Basis direkt mit dem Deck des Wasserfahrzeugs verbunden, wobei die Basis parallel zum Deck bewegbar ist. Das Verfahren weist die folgenden Schritte auf:

  1. a) Erfassung der Bewegung des Wasserfahrzeugs mit dem ersten Bewegungssensor,
  2. b) Übertragen von Bewegungsdaten des ersten Bewegungssensors zur Regelvorrichtung,
  3. c) Erfassung der Position einer Kranlast mittels der Erfassungsvorrichtung,
  4. d) Übertragen von Positionsdaten der Kranlast aus der Erfassungsvorrichtung zur
  5. e) Ermitteln einer ausgleichenden Gegenbewegung, Regelvorrichtung.
  6. f) Ansteuern des Bordkrans gemäß der ermittelten Gegenbewegung.
In a further aspect, the invention relates to a method for controlling an on-board crane. The watercraft has a deck. The on-board crane has no mast and is connected directly to the deck of the watercraft via a base, the base being movable parallel to the deck. The procedure has the following steps:
  1. a) detecting the movement of the watercraft with the first motion sensor,
  2. b) transmitting movement data from the first movement sensor to the control device,
  3. c) detecting the position of a crane load using the detection device,
  4. d) Transmitting position data of the crane load from the detection device to
  5. e) Determining a compensating countermovement, control device.
  6. f) Controlling the on-board crane according to the countermovement determined.

In Schritt e) wird eine Bewegung der Basis parallel zum Deck als Ausgleichsbewegung berücksichtigt. Die Berücksichtigung der Translation der Basis erlaubt eine besonders gute Stabilisierung der Last.In step e), a movement of the base parallel to the deck is taken into account as a compensating movement. Taking the translation of the base into account allows the load to be particularly well stabilized.

Besonders bevorzugt erfolgt die Ermittlung der ausgleichenden Gegenbewegung in Schritt c) derart, dass die Last in der Nähe der Wasseroberfläche relativ zur Wasseroberfläche möglichst keine oder nur geringe Bewegung, insbesondere Pendelbewegung, aufweist. Ebenso bevorzugt die Ermittlung der ausgleichenden Gegenbewegung in Schritt c) derart, dass die Last in der Nähe des Decks des Wasserfahrzeugs relativ zum Deck möglichst keine oder nur geringe Bewegung, insbesondere Pendelbewegung, aufweist.Particularly preferably, the determination of the compensating countermovement in step c) is carried out in such a way that the load in the vicinity of the water surface has, if possible, little or no movement relative to the water surface, in particular pendulum movement. Likewise, the determination of the compensating countermovement in step c) is preferred in such a way that the load in the vicinity of the deck of the watercraft has, if possible, little or no movement relative to the deck, in particular pendulum movement.

Durch die aktive Erfassung der Position der Last kann insbesondere der Effekt äußerer Einflüsse, wie zum Beispiel des Windes, auf die Last zuverlässig erfasst werden.By actively detecting the position of the load, the effect of external influences, such as wind, on the load can be reliably recorded.

In einer weiteren Ausführungsform der Erfindung wird in Schritt f) die Basis und/oder der Baumantrieb und/oder die Seilwinde angesteuert.In a further embodiment of the invention, the base and/or the tree drive and/or the cable winch are controlled in step f).

In einer weiteren Ausführungsform der Erfindung weist das Verfahren zusätzlich den folgenden Schritt auf:
g) Voraussage der wahrscheinlichen zukünftigen Schiffsbewegung und/oder Kranlastbewegung.In a further embodiment of the invention, the method additionally has the following step:
g) Prediction of likely future ship movement and/or crane load movement.

In einer weiteren Ausführungsform der Erfindung wird das Verfahren parallel zu einer manuellen Steuerung des Bordkrans durchgeführt.In a further embodiment of the invention, the method is carried out in parallel with manual control of the on-board crane.

In einer weiteren alternativen Ausführungsform der Erfindung wird das Verfahren parallel zu einer automatischen Steuerung des Bordkrans durchgeführt.In a further alternative embodiment of the invention, the method is carried out in parallel with an automatic control of the on-board crane.

Nachfolgend ist ein Wasserfahrzeug anhand von in den Zeichnungen dargestellten Beispielen näher erläutert, bei denen nicht erfindungsgemäß der Bordkran einen Mast aufweist,

  • Fig. 1 erstes Wasserfahrzeug mit Bordkran und Kranlast
  • Fig. 2 zweites Wasserfahrzeug mit Bordkran und Kranlast
  • Fig. 3 drittes Wasserfahrzeug mit Bordkran und Kranlast
A watercraft is explained in more detail below using examples shown in the drawings, in which the on-board crane does not have a mast according to the invention,
  • Fig. 1 first watercraft with on-board crane and crane load
  • Fig. 2 second watercraft with on-board crane and crane load
  • Fig. 3 third watercraft with on-board crane and crane load

In Fig. 1 ist ein erstes Wasserfahrzeug 10 mit einem Bordkran gezeigt. Der Bordkran ist über eine Basis 20 mit dem Deck des Wasserfahrzeugs 10 verbunden, wobei die Basis 20 horizontal auf dem Deck bewegbar ist. Der Bordkran weist ferner einen Mast 30, einen Baum 40 und ein Seil 60 auf. An dem Seil 60 ist die Kranlast 50 befestigt. Da das Wasserfahrzeug 10 sich bewegt, kann die Kranlast leicht in Schaukeln geraten. Daher wird die Bewegung des Wasserfahrzeuges 10 mit einem Bewegungssensor erfasst und die Basis 20 über eine Regelvorrichtung angesteuert, um ein Aufschaukeln zu verhindern.In Fig. 1 a first watercraft 10 is shown with an on-board crane. The on-board crane is connected to the deck of the watercraft 10 via a base 20, the base 20 being movable horizontally on the deck. The on-board crane also has a mast 30, a boom 40 and a rope 60. The crane load 50 is attached to the rope 60. Because the watercraft 10 is moving, the crane load can easily swing. Therefore, the movement of the watercraft 10 is detected with a motion sensor and the base 20 is controlled via a control device in order to prevent rocking.

Fig. 2 zeigt ein zweites Wasserfahrzeug 10, welches sich von dem ersten Wasserfahrzeug 10 darin unterscheidet, dass der Baum 40 aus einem feststehenden Baumteil 42 und einem ausfahrbaren Baumteil 44 besteht. Hierdurch kann die Länge des Baumes 40 verändert werden. Der ausfahrbare Baumteil 44 kann mittels eines Baumantriebs ausgefahren werden, wobei der Baumantrieb durch die Regelvorrichtung ansteuerbar ist. Fig. 2 shows a second watercraft 10, which differs from the first watercraft 10 in that the tree 40 consists of a fixed tree part 42 and an extendable tree part 44. This allows the length of the tree 40 to be changed. The extendable tree part 44 can be extended by means of a tree drive, the tree drive being controllable by the control device.

Fig. 3 zeigt ein drittes Wasserfahrzeug 10, welches zusätzlich zu dem zweiten Wasserfahrzeug 10 eine Erfassungsvorrichtung 70 aufweist. Die Erfassungsvorrichtung 70 erfasst die Position der Kranlast 50 und sendet diese an die Regelvorrichtung. Durch diese aktive Rückkopplung ist die Verhinderung eines Aufschwingens der Kranlast 50 auch bei äußeren Einflüssen möglich. Fig. 3 shows a third watercraft 10, which has a detection device 70 in addition to the second watercraft 10. The detection device 70 detects the position of the crane load 50 and sends it to the control device. This active feedback makes it possible to prevent the crane load 50 from swinging up, even in the event of external influences.

BezugszeichenReference symbols

1010
Wasserfahrzeugwatercraft
2020
BasisBase
3030
Mastmast
4040
BaumTree
4242
feststehender Baumteilfixed part of the tree
4444
ausfahrbarer Baumteilextendable tree part
5050
Kranlastcrane load
6060
SeilRope
7070
ErfassungsvorrichtungDetection device

Claims (9)

  1. A method of controlling an on-board crane on a watercraft (10), the watercraft (10) having a deck, the on-board crane having no mast, the on-board crane being directly connected to the deck of the watercraft (10) via a base (20), the base (20) being movable parallel to the deck, the method comprising the steps of:
    a) Detecting the movement of the watercraft (10) with the first motion sensor,
    b) Transmitting motion data from the first motion sensor to the control device,
    c) Detection of the position of a crane load (50) by means of the detection device (70),
    d) Transferring position data of the crane load (50) from the detection device (70) to the control device.
    e) Determine a compensating countermovement,
    f) Control of the on-board crane according to the determined countermovement,
    wherein in step e) a movement of the base (20) parallel to the deck is taken into account as a compensating movement.
  2. Method for controlling an on-board crane on a watercraft (10) according to claim 1, characterised in that in step f) the base (20) and/or the boom drive and/or the winch is controlled.
  3. A method of controlling an on-board crane on a watercraft (10) according to any one of claims 1 to 2, characterised in that the method additionally comprises the step of: g) Prediction of likely future vessel movement and/or crane load movement.
  4. A method of controlling an on-board crane on a vessel (10) according to any one of claims 1 to 3, characterised in that the method is performed in parallel with manual control of the on-board crane.
  5. A method of controlling an on-board crane on a watercraft (10) according to any one of claims 1 to 4, characterised in that the method is performed in parallel with automatic control of the on-board crane.
  6. Watercraft (10) with an on-board crane, the watercraft (10) having a deck, the on-board crane has no mast and being directly connected to the deck of the watercraft (10) via a base (20), characterised in that the base (20) being movable parallel to the deck, the watercraft (10) having at least one first movement sensor for detecting the movement of the watercraft (10), the watercraft (10) having a control device, the control device serving to control the base (20), the control device being designed to detect movement data of the first movement sensor, wherein watercraft (10) has a detection device (70) for detecting the position of a crane load (50), the control device being designed to detect position data of the crane load (50) from the detection device (70), the on-board crane not having a mast wherein the control device is further configured to determine a compensating counter-movement, taking into account a movement of the base (20) parallel to the deck as a compensating movement, and to control the on-board crane according to the determined counter-movement..
  7. Watercraft (10) with an on-board crane according to claim 6, characterised in that the detection device (70) detects the position of the crane load (50) without contact, in particular by means of electromagnetic waves and/or sound waves.
  8. A watercraft (10) with an on-board crane according to any one of claims 6 to 7, characterised in that the on-board crane comprises a boom (40), the boom (40) being variable in length by means of a boom drive, the control device being designed to control the boom drive.
  9. A watercraft (10) with an on-board crane according to any one of claims 6 to 8, characterised in that the on-board crane comprises a cable (60) and a cable winch, the control device being designed to control the cable winch.
EP18700020.3A 2017-01-11 2018-01-02 Watercraft having a deck crane Active EP3568349B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017200392.8A DE102017200392A1 (en) 2017-01-11 2017-01-11 Watercraft with a ship's crane
PCT/EP2018/050037 WO2018130430A1 (en) 2017-01-11 2018-01-02 Watercraft having a deck crane

Publications (3)

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EP3568349A1 EP3568349A1 (en) 2019-11-20
EP3568349C0 EP3568349C0 (en) 2023-12-06
EP3568349B1 true EP3568349B1 (en) 2023-12-06

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WO (1) WO2018130430A1 (en)

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DE102019216366A1 (en) * 2019-10-24 2021-04-29 Robert Bosch Gmbh System and procedure
DE102020210020A1 (en) 2020-08-07 2022-02-10 Zf Friedrichshafen Ag Radar absorbing handling device

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EP3568349C0 (en) 2023-12-06
DE102017200392A1 (en) 2018-07-12
EP3568349A1 (en) 2019-11-20
WO2018130430A1 (en) 2018-07-19

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