Patent ID: 9688490
Date: 2017-06-27
CPC Classifications: B63B,B65G,B66C,G05B

Claim:
1. A motion compensation device for compensating a load manipulator, such as a crane, on a vessel for water motion; wherein an imaginary set of three orthogonal axes is defined by an x-axis, a y-axis and a z-axis, the z-axis extending vertically when the device is in use; wherein the device comprises: a carrier frame for carrying the manipulator; a base for supporting the motion compensation device on the vessel; an actuator system adapted to cause upon actuation of the actuator system one or more of the following movements: translation of the carrier frame with respect to the base along the z-axis; rotation of the carrier frame with respect to the base around the x-axis; rotation of the carrier frame with respect to the base around the y-axis; a sensor system arranged for sensing at least x-axis rotational movement and y-axis rotational movement of the vessel and generating sensor signals representing said sensed movements of the vessel; a control system generating one or more control signals driving the actuator system in response to said sensor signals; wherein the control system comprises an outboard control mode for outboard load manipulation; wherein, in the outboard control mode, the control system is arranged to generate one or more control signals for driving the actuator system such that the carrier frame is compensated for x-axis rotational movement, y-axis rotational movement and z-axis translational movement of the vessel; wherein the control system further comprises on board control mode for on board load manipulation; wherein, in the on board control mode, the control system is arranged to generate one or more control signals for driving the actuator system such that the carrier frame is compensated for x-axis rotational movement and y-axis rotational movement of the vessel, and follows, viewed in vertical direction, the vertical movement of a target location on the vessel; and wherein, in the on board control mode, the one or more control signals for driving the actuator system are such that the vertical distance between the target location and carrier frame is maintained at a constant value.