CN105398965A - Video-ranging offshore platform crane heave compensation control system and method - Google Patents
Video-ranging offshore platform crane heave compensation control system and method Download PDFInfo
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- CN105398965A CN105398965A CN201510969833.3A CN201510969833A CN105398965A CN 105398965 A CN105398965 A CN 105398965A CN 201510969833 A CN201510969833 A CN 201510969833A CN 105398965 A CN105398965 A CN 105398965A
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- platform crane
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Classifications
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- 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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/085—Control actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7052—Single-acting output members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a video-ranging offshore platform crane heave compensation control system and method. The video-ranging offshore platform crane heave compensation control system comprises a control computer, an industrial camera and a direct-pump-controlled electrical-hydraulic heave compensation device, wherein the industrial camera as well as a servo motor driver, a rotating speed sensor, three pressure sensors and a built-in displacement sensor in the direct-pump-controlled electrical-hydraulic heave compensation device are respectively electrically connected with the control computer to carry out information and energy exchange; and the industrial camera and the direct-pump-controlled electrical-hydraulic heave compensation device are respectively arranged on an offshore platform crane base. Three-dimensional location information of a ship is detected through a video ranging method and is transmitted to the control computer to control the direct-pump-controlled electrical-hydraulic heave compensation device, and furthermore the intelligent heave motion compensation of an offshore platform crane is carried out; and the crane is not influenced by the heave motion of a ship body, a load is lifted to leave away from and be stably descended to a deck of a supply ship, and furthermore the intelligent heavy motion compensation realized through lifting and descending of the crane is carried out.
Description
Technical field
The present invention relates to hoisting crane heave compensation control system and method, especially relate to a kind of utilize video to find range ocean platform crane heave compensation control system and method.
Background technology
Since 2l century, the demand of the whole world to the energy increases day by day, and ocean becomes the emphasis of various countries' new century energy strategy, and countries in the world increase the dynamics to ocean exploitation one after another.Along with a large amount of exploitations of marine oil, Large marine engineering is also flourish, and in these engineerings, offshore crane is then one of key equipment.
The hull heave movement caused due to ocean wave motion and swing, significantly limit the operational capability of offshore crane, not only can reduce the precision in place of lifting, increase the danger of operation, also structurally can produce additional dynamic load, the damage of equipment and the injures and deaths of personnel time serious, can be caused.Eliminate the impact of ocean wave motion on crane job and become offshore crane and the maximum technology of Terrain Cranes is distinguished.
The existing monotechnics more ripe for the development eliminating ocean wave motion impact, as identical tension technology and heave compensation technology, mainly carry out researching and developing for ship-borne equipment, and its control objectives is compensated by continuous print to keep load position in water constant, and the control objectives of ocean platform crane should be under the condition of ocean wave motion, not by the impact of hull heave movement, load promotes and leaves and can steadily transfer to delivery ship deck by pulsation-free, once freight lifting leaves deck or places above deck, just without the need to compensating again.
Active heave compensation technology realizes the detection of ship motion based on the sensor being installed on hull, and for ocean platform crane, crane job ship can not be same ship, and hoisting crane distance ship vertical distance nearly hundred meters, detection for hull location information realizes being unpractical by sensor installation on delivery ship, should adopt non-contact measurement apparatus.
The ocean platform crane of the current world and domestic manufacturers, the measure solving ocean wave motion is still configuration identical tension function, heave compensation technology is owing to detecting inconvenience in the motion of ocean platform crane condition lower hull, do not use on a large scale, but in fact for ocean platform crane, no matter be identical tension technology or existing heave compensation technology, the lifting process of ocean platform crane can only be made not affect by hull heave, and dropping process is still subject to the impact of ship motion, the complete operation of hoisting crane comprises lifting and transfers two processes, therefore the half that can only deal with problems of prior art.
In sum, therefore existing monotechnics is directly moved on ocean platform crane is inappropriate.The operation requirements special for ocean platform crane and control overflow, research and development are suitable for the kinetic control system of ocean platform crane, ensure under the condition of ocean wave motion, not by the impact of hull heave movement, load promotes and leaves and can steadily transfer to delivery ship deck by pulsation-free, significantly can promote the deficiency of China's ocean platform crane in gordian technique, promote competitiveness in the international market.
Summary of the invention
The advantage of comprehensive existing all types of heave compensation technology, overcome its shortcoming, the object of the present invention is to provide a kind of utilize video to find range ocean platform crane heave compensation control system and method, ensure under the condition of ocean wave motion, hoisting crane is not by the impact of hull heave movement, load promotes and leaves and can steadily transfer to delivery ship deck by pulsation-free, carries out crane lifting and the intelligent heaving movement compensation of transferring overall process.
In order to reach foregoing invention object, the technical solution used in the present invention is:
One, a kind of ocean platform crane heave compensation control system utilizing video to find range
The present invention includes computer for controlling, industrial camera and direct pump control type electrohydraulic heave compensator; Industrial camera is connected with computer for controlling respectively by electrical wiring with built-in displacement sensor with the motor servo driver in direct pump control type electrohydraulic heave compensator, tachogen, three pressure sensors, carries out the exchange of information and energy; Industrial camera and direct pump control type electrohydraulic heave compensator are installed on ocean platform crane pedestal respectively.
Described direct pump control type electrohydraulic heave compensator, comprise motor servo driver, servomotor, bidirectional hydraulic pump, energy storage, quick connector, two by pass valves, asymmetric servo cylinder, movable pulley, quiet pulley, three pressure sensors, tachogen and built-in displacement sensors;
Motor servo driver drives servomotor to drive bidirectional hydraulic pump to rotate, and two mouths of bidirectional hydraulic pump are connected with the rod chamber of asymmetric servo cylinder and rodless cavity respectively, the by pass valves of two reverse installations in parallel between two mouths of bidirectional hydraulic pump; Energy storage divides three tunnels, the first via is connected with asymmetric servo cylinder rod chamber side, second tunnel is connected with quick connector, 3rd tunnel is connected with the first pressure sensor, two mouths of bidirectional hydraulic pump are connected to the second pressure sensor and the 3rd pressure sensor respectively, servomotor is connected with tachogen, and three pressure sensors, tachogen, built-in displacement sensors are connected with computer for controlling respectively with motor servo driver; Movable pulley is connected on the piston rod of asymmetric servo cylinder, and quiet pulley is connected to the bottom of asymmetric servo cylinder, and built-in displacement sensor is arranged in asymmetric servo cylinder.
Described servomotor, bidirectional hydraulic pump, asymmetric servo cylinder, energy storage, two by pass valves, quick connector, three autonomous devices of all integrated formation of pressure sensor, tachogen and built-in displacement sensor.
Two, a kind of ocean platform crane heave compensation control method utilizing video to find range
The present invention adopts computer for controlling as controller, video distance-finding method is adopted to detect the three dimensional local information of hull by industrial camera, direct pump control type electrohydraulic heave compensator is driven by motor servo driver, as the actuating unit of system, adopt the operational factor of tachogen, three pressure sensors and the direct pump control type electrohydraulic heave compensator of built-in displacement sensor collection, and feed back to computer for controlling, for the closed loop control of direct pump control type electrohydraulic heave compensator, realize the lifting of ocean platform crane and transfer.
In the lifting process of described ocean platform crane, video distance-finding method is adopted to detect the position of hull heave movement by industrial camera, by the computing of computer for controlling, obtain speed and acceleration information, the direct pump control type electrohydraulic heave compensator driven by motor servo driver carries out heaving movement compensation initiatively, the selection of intelligence promotes the moment, avoid lifting process to produce crane rope impact load, realize pulsation-free and promote.
In the decentralization process of described ocean platform crane, under the control of computer for controlling, fallen under a load in process by direct pump control type electrohydraulic heave compensator and superpose the same amplitude of hull heave movement, reciprocal motion, proof load is transferred to deck in ship structure with the relative velocity of setting, and ship attitude information can be differentiated, select load to transfer opportunity, realize load pulsation-free and transfer.
The beneficial effect that the present invention has is:
The present invention adopts video distance-finding method to detect ship three dimensional local information, and these parameters are sent to computer for controlling, in order to control direct pump control type electrohydraulic heave compensator, carry out the intelligentized heaving movement compensation of ocean platform crane, ensure under the condition of ocean wave motion, hoisting crane is not by the impact of hull heave movement, load promotes and leaves and can steadily transfer to delivery ship deck by pulsation-free, carry out crane lifting and the intelligent heaving movement compensation of transferring overall process, its compact conformation, system is simple, use, easy to maintenance, there is practicality and advance widely.The present invention also can be used for the heave compensation of ship-borne equipment, wharf crane.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation of direct pump control type electrohydraulic heave compensator.
In figure: 1, computer for controlling, 2, industrial camera, 3, directly pump control type electrohydraulic heave compensator, 4, motor servo driver, 5, tachogen, 6, pressure sensor, 7, built-in displacement sensor, 8, electrical wiring, 9, movable pulley, 10, quiet pulley, 11, asymmetric servo cylinder, 12, hydraulic tubing, 13, energy storage, 14, quick connector, 15, by pass valve, 16, servomotor, 17, bidirectional hydraulic pump.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figure 1, the present invention includes computer for controlling 1, industrial camera 2 and direct pump control type electrohydraulic heave compensator 3; Industrial camera 2 is connected with computer for controlling 1 respectively by electrical wiring 8 with built-in displacement sensor 7 with the motor servo driver 4 in direct pump control type electrohydraulic heave compensator 3, tachogen 5, three pressure sensors 6, carries out the exchange of information and energy; Industrial camera 2 and direct pump control type electrohydraulic heave compensator 3 are installed on ocean platform crane pedestal respectively.
As shown in Figure 2, direct pump control type electrohydraulic heave compensator 3 of the present invention, comprises motor servo driver 4, servomotor 16, bidirectional hydraulic pump 17, energy storage 13, quick connector 14, two by pass valves 15, asymmetric servo cylinder 11, movable pulley 9, quiet pulley 10, three pressure sensors 6, tachogen 5 and built-in displacement sensors 7.Motor servo driver 4 drives servomotor 16 to drive bidirectional hydraulic pump 17 to rotate, two mouths of bidirectional hydraulic pump 17 are stepped on 12 through hydraulic pipe respectively and are connected with the rod chamber of asymmetric servo cylinder 11 and rodless cavity, two by pass valves 15 oppositely installed in parallel between two mouths of bidirectional hydraulic pump 17; Energy storage 13 point of three tunnel, the first via is connected with asymmetric servo cylinder 11 rod chamber side, second tunnel is connected with quick connector 14,3rd tunnel is connected with the first pressure sensor 6, two mouths of bidirectional hydraulic pump 17 are connected to the second pressure sensor 6 and the 3rd pressure sensor 6 respectively, servomotor 3 is connected with tachogen 12, and three pressure sensors 6, tachogen 5, built-in displacement sensors 7 are connected with computer for controlling 1 respectively by electrical wiring 8 with motor servo driver 4; Movable pulley 9 is connected on the piston rod of asymmetric servo cylinder 8, and quiet pulley 10 is connected to the bottom of asymmetric servo cylinder 8, and built-in displacement sensor 7 is arranged in asymmetric servo cylinder 8.Movable pulley 9 is connected on the piston rod of asymmetric servo cylinder 8, and quiet pulley 10 is connected to the bottom of asymmetric servo cylinder 8, and with movable pulley 9 on same axis, movable pulley 9 is connected with crane lifting steel rope with quiet pulley 10.
The autonomous device of all integrated formation of described servomotor 16, bidirectional hydraulic pump 17, asymmetric servo cylinder 11, energy storage 13, two by pass valves 15, quick connector 14, three pressure sensors 6, tachogen 5 and built-in displacement sensors 7.
Principle of work of the present invention:
Adopt computer for controlling 1 as controller, video distance-finding method is adopted to detect the three dimensional local information of hull by industrial camera 2, direct pump control type electrohydraulic heave compensator 3 is driven by motor servo driver 4, as the actuating unit of system, tachogen 5, three pressure sensors 6 and built-in displacement sensor 7 is adopted to gather the operational factor of direct pump control type electrohydraulic heave compensator 3, and feed back to computer for controlling 1, for the closed loop control of direct pump control type electrohydraulic heave compensator 3, realize the lifting of ocean platform crane and transfer.
In the lifting process of described ocean platform crane, video distance-finding method is adopted to detect the position of hull heave movement by industrial camera 2, by the computing of computer for controlling 1, obtain speed and acceleration information, the direct pump control type electrohydraulic heave compensator 3 driven by motor servo driver 4 carries out heaving movement compensation initiatively, the selection of intelligence promotes the moment, avoid lifting process to produce crane rope impact load, realize pulsation-free and promote.
In the decentralization process of described ocean platform crane, under the control of computer for controlling 1, fallen under a load in process by direct pump control type electrohydraulic heave compensator 3 and superpose the same amplitude of hull heave movement, reciprocal motion, proof load is transferred to deck in ship structure with the relative velocity of setting, and ship attitude information can be differentiated, select load to transfer opportunity, realize load pulsation-free and transfer.
Claims (6)
1. the ocean platform crane heave compensation control system utilizing video to find range, is characterized in that:
Comprise computer for controlling (1), industrial camera (2) and direct pump control type electrohydraulic heave compensator (3); Industrial camera (2) is connected with computer for controlling (1) respectively by electrical wiring (8) with built-in displacement sensor (7) with the motor servo driver (4) in direct pump control type electrohydraulic heave compensator (3), tachogen (5), three pressure sensors (6), carries out the exchange of information and energy; Industrial camera (2) and direct pump control type electrohydraulic heave compensator (3) are installed on ocean platform crane pedestal respectively.
2. a kind of ocean platform crane heave compensation control system utilizing video to find range according to claim 1, it is characterized in that: described direct pump control type electrohydraulic heave compensator (3), comprise motor servo driver (4), servomotor (16), bidirectional hydraulic pump (17), energy storage (13), quick connector (14), two by pass valves, asymmetric servo cylinder (11), movable pulley (9), quiet pulley (10), three pressure sensors, tachogen (5) and built-in displacement sensors (7); Motor servo driver (4) drives servomotor (16) to drive bidirectional hydraulic pump (17) to rotate, two mouths of bidirectional hydraulic pump (17) are connected with the rod chamber of asymmetric servo cylinder (11) and rodless cavity respectively, two by pass valves oppositely installed in parallel between two mouths of bidirectional hydraulic pump (17); Energy storage (13) Fen Sanlu, the first via is connected with asymmetric servo cylinder (11) rod chamber side, second tunnel is connected with quick connector (14), 3rd tunnel is connected with the first pressure sensor, two mouths of bidirectional hydraulic pump (17) are connected to the second pressure sensor and the 3rd pressure sensor respectively, servomotor (3) is connected with tachogen (12), and three pressure sensors, tachogen (5), built-in displacement sensors (7) are connected with computer for controlling (1) respectively with motor servo driver (4); Movable pulley (9) is connected on the piston rod of asymmetric servo cylinder (8), quiet pulley (10) is connected to the bottom of asymmetric servo cylinder (8), and built-in displacement sensor (7) is arranged in asymmetric servo cylinder (8).
3. a kind of ocean platform crane heave compensation control system utilizing video to find range according to claim 2, is characterized in that: described servomotor (16), bidirectional hydraulic pump (17), asymmetric servo cylinder (11), energy storage (13), two by pass valves, quick connector (14), three autonomous devices of all integrated formation of pressure sensor, tachogen (5) and built-in displacement sensor (7).
4. for a kind of ocean platform crane heave compensation control method utilizing video to find range according to claim 1, it is characterized in that: adopt computer for controlling (1) as controller, video distance-finding method is adopted to detect the three dimensional local information of hull by industrial camera (2), direct pump control type electrohydraulic heave compensator (3) is driven by motor servo driver (4), as the actuating unit of system, adopt tachogen (5), three pressure sensors (6) and built-in displacement sensor (7) gather the operational factor of direct pump control type electrohydraulic heave compensator (3), and feed back to computer for controlling (1), for the closed loop control of direct pump control type electrohydraulic heave compensator (3), realize the lifting of ocean platform crane and transfer.
5. a kind of ocean platform crane heave compensation control method utilizing video to find range according to claim 4, it is characterized in that: in the lifting process of described ocean platform crane, video distance-finding method is adopted to detect the position of hull heave movement by industrial camera (2), by the computing of computer for controlling (1), obtain speed and acceleration information, the direct pump control type electrohydraulic heave compensator (3) driven by motor servo driver (4) carries out heaving movement compensation initiatively, the selection of intelligence promotes the moment, lifting process is avoided to produce crane rope impact load, realize pulsation-free to promote.
6. a kind of ocean platform crane heave compensation control method utilizing video to find range according to claim 4, it is characterized in that: in the decentralization process of described ocean platform crane, under the control of computer for controlling (1), fallen under a load in process by direct pump control type electrohydraulic heave compensator (3) and superpose the same amplitude of hull heave movement, reciprocal motion, proof load is transferred to deck in ship structure with the relative velocity of setting, and ship attitude information can be differentiated, select load to transfer opportunity, realize load pulsation-free and transfer.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510969833.3A CN105398965A (en) | 2015-12-22 | 2015-12-22 | Video-ranging offshore platform crane heave compensation control system and method |
| PCT/CN2016/111394 WO2017107936A1 (en) | 2015-12-22 | 2016-12-22 | Offshore crane heave compensation control system and method using video rangefinding |
| CN201680003576.0A CN107207221B (en) | 2015-12-22 | 2016-12-22 | Utilize the ocean platform crane heave compensation control system and method for video ranging |
| US16/064,458 US10843904B2 (en) | 2015-12-22 | 2016-12-22 | Offshore crane heave compensation control system and method using visual ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510969833.3A CN105398965A (en) | 2015-12-22 | 2015-12-22 | Video-ranging offshore platform crane heave compensation control system and method |
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| Publication Number | Publication Date |
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| CN105398965A true CN105398965A (en) | 2016-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510969833.3A Pending CN105398965A (en) | 2015-12-22 | 2015-12-22 | Video-ranging offshore platform crane heave compensation control system and method |
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| CN (1) | CN105398965A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017107936A1 (en) * | 2015-12-22 | 2017-06-29 | 浙江大学 | Offshore crane heave compensation control system and method using video rangefinding |
| CN107298394A (en) * | 2017-07-07 | 2017-10-27 | 江苏科技大学 | A kind of compensation method of the two degrees of freedom wave compensation system detected based on sea horizon |
| CN107529510A (en) * | 2017-05-24 | 2018-01-02 | 江苏科技大学 | A kind of portable small-sized boat-carrying Lift-on/Lift-off System with active compensation of undulation function |
| CN107555324A (en) * | 2017-06-26 | 2018-01-09 | 江苏科技大学 | A kind of portable small-sized boat-carrying Lift-on/Lift-off System with active compensation of undulation function |
| CN108646551A (en) * | 2018-04-11 | 2018-10-12 | 南通大学 | Heave compensation control system design method |
| CN110005598A (en) * | 2017-12-14 | 2019-07-12 | 罗伯特·博世有限公司 | Hydraulic pressure supply mechanism |
| CN115594098A (en) * | 2022-11-10 | 2023-01-13 | 大连海事大学（Cn） | Active heave compensation device control system based on force and position combined control |
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