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11. 发明申请

WO1982004234A1 METHOD AND SYSTEM FOR LOADING A TANKER WITH CRUDE OR GAS FROM A SUBMARINE TERMINAL 审中-公开
标题翻译：用于从底线装载原油或气体的罐的方法和系统
公开(公告)号：WO1982004234A1
公开(公告)日：1982-12-09
申请号：PCT/NO1981000019
申请日：1981-06-02
申请人： KONGSBERG ENG AS , OVERGAARD INGAR , MATHIASSEN SVEIN , GULLIKSEN LEIF
发明人： KONGSBERG ENG AS
IPC分类号： B63B27/34
CPC分类号： B63B27/24 , E21B19/002 , E21B43/01 , G05D1/0208
摘要： A method and a system for loading a tanker (3) with oil or gas from a submarine conduit (1), wherein the tanker is positioned dynamically above a coupling structure (3) connected to the conduit (1), and wherein a riser pipe (32) is lowered from the tanker, the lower end of said riser (32) carrying a coupling means (211) which is coupled to the coupling structure (3). The lower end of the riser (32) is positioned dynamically during the lowering and coupling operation by means which are monitored by the dynamic positioning system of the tanker, the position of the lower end of the riser being controlled by the dyamic positioning system of the tanker during the controlled lowering of the riser, and the lower end of the riser being precision regulated by a precision regulation system which is integrated in said dynamic positioning system. The overall dynamic positioning system also includes a heave compensation system (33, 38) which aside from being used during the loading operation, can also be used during the initial lowering and the final coupling phase of the riser coupling means (211).
摘要翻译：一种用于从海底管道（1）装载具有油或气体的油罐（3）的方法和系统，其中所述油罐位于与所述导管（1）连接的联接结构（3）的动态上方，并且其中提升管（32）从油罐下降，所述提升管（32）的下端承载联接装置（211），联接装置（211）联接到联接结构（3）。提升管（32）的下端在下降和联接操作期间通过由油罐车的动态定位系统监控的装置动态地定位，提升管的下端的位置由动力定位系统控制在提升管的控制降低期间，油罐车的下端，并且提升管的下端由集成在所述动态定位系统中的精密调节系统精确地调节。整个动态定位系统还包括一个起重补偿系统（33,38），除了在加载操作期间使用，还可以在提升管联接装置（211）的初始下降和最终联接阶段期间使用。

12. 发明申请

WO2019086762A1 SYSTEM FOR MANOEUVRING A BOAT 审中-公开
公开(公告)号：WO2019086762A1
公开(公告)日：2019-05-09
申请号：PCT/FI2018/050798
申请日：2018-11-02
申请人： G-BOATS OY
发明人： VÄÄNÄNEN, Johannes , PIETOLA, Paavo , IHONEN, Markku
IPC分类号： B63H25/46 , B63H11/10 , B63B59/02 , B63B21/08
CPC分类号： B63H25/04 , B63B39/08 , B63B43/18 , B63B59/02 , B63B2043/185 , B63B2059/025 , B63H11/04 , B63H25/46 , B63H2011/008 , B63H2025/026 , G05D1/0088 , G05D1/0208
摘要： The invention provides a system (100), a software program product (600) and a method for manoeuvring a boat (110). A plurality of water nozzles (140) is provided on the boat (110). Further, a plurality of pumps (120) is operated by a power source (130) of the boat (110). The plurality of pumps (120) is primed continuously to reduce response time to control the plurality of pumps (120) and each of the plurality of pumps (120) is connected to one water nozzle (140). A plurality of sensors (150) is configured to monitor the state of motion of the boat (110). Further, an artificial intelligence module (160) or control unit is in communication with the plurality of pumps (120), the plurality of sensors (150), and/or the plurality of water nozzles (140). The artificial intelligence module (160) is configured to keep the boat (110) in a stationary standstill or on a chosen course of motion.

13. 发明申请

WO2016140135A1 船舶审中-公开
标题翻译：船
公开(公告)号：WO2016140135A1
公开(公告)日：2016-09-09
申请号：PCT/JP2016/055631
申请日：2016-02-25
申请人：ヤンマー株式会社
发明人：常陸　純一 , 神田　効一
IPC分类号： G08G3/00 , B63B49/00 , B63H25/42 , G01S17/88
CPC分类号： G05D1/0208 , B63B49/00 , B63H21/21 , B63H25/42 , G01C21/203 , G01S17/08 , G05D1/12 , G06K9/00624 , G06T7/74 , G06T2207/30252 , H04N5/247
摘要：海上における正確な自船の位置を認識することができる船舶を提供することを課題とする。海上における位置を認識する認識コントローラ（１６０）を備える船舶（１００）であって、認識コントローラ（１６０）は、船舶（１００）と複数の陸上目標物との相対距離に基づいて海上における自船の位置を認識する。認識コントローラ（１６０）は、第一カメラ（１６１）及び第二カメラ（１６２）によってそれぞれストラクチャー（Ｓ１）の画像（Ｐ１）及びストラクチャー（Ｓ２）の画像（Ｐ２）を撮影し、撮影した画像（Ｐ１）及び画像（Ｐ２）の大きさが変化しないように操船することによって、海上における定点保持を行う。
摘要翻译：本发明解决了提供能够识别其在海上的正确位置的船舶的问题。船舶（100）包括识别船舶在海上的位置的识别控制器（160），识别控制器（160）根据船舶（100）的相对距离识别船舶在海上的位置，和多个陆上目标。识别控制器（160）分别通过使用第一照相机（161）和第二照相机（162）捕获结构（S1）的图像（P1）和结构（S2）的图像（P2），并且机动使得捕获图像（P1）和图像（P2）的尺寸不变化，从而在海上保持固定点。

14. 发明申请

WO2011129822A1 MARINE LIFTING APPARATUS 审中-公开
标题翻译：海运提升装置
公开(公告)号：WO2011129822A1
公开(公告)日：2011-10-20
申请号：PCT/US2010/031037
申请日：2010-04-14
申请人： KHACHATURIAN, Jon
发明人： KHACHATURIAN, Jon
IPC分类号： B63C7/02 , B63C7/28 , B66C23/52 , B66C23/53 , B66C23/64 , B63H25/48
CPC分类号： B63C7/04 , B63B1/121 , B63B1/14 , B63B9/00 , B63B9/06 , B63B25/002 , B63B35/00 , B63B2001/123 , B63B2738/10 , B63H21/22 , B63H25/42 , B66C13/02 , B66C17/06 , B66C23/52 , G05D1/0208 , Y02T70/80 , Y10T29/49002
摘要： A catamaran lifting apparatus is disclosed for lifting objects in a marine environment. The apparatus includes first and second vessels that are spaced apart during use. A first frame spans between the vessels. A second frame spans between the vessels. The frames are spaced apart and connected to the vessels in a configuration that spaces the vessels apart. The first frame connects to the first vessel with a universal joint and to the second vessel with a hinged connection. The second frame connects to the second vessel with a universal joint and to the first vessel with a hinged or pinned connection. Each of the frames provides a space under the frame and in between the barges that enables a package to be lifted and/or a marine vessel to be positioned in between the barges and under the frames. In this fashion, an object that has been salvaged from the seabed can be placed upon the marine vessel that is positioned in between the barges and under the frames.
摘要翻译：公开了一种用于在海洋环境中提升物体的双体船提升装置。该装置包括在使用期间间隔开的第一和第二容器。第一帧跨越血管。第二帧跨越血管。框架间隔开并连接到容器，使得容器分开。第一框架通过万向接头连接到第一容器，并且具有铰链连接到第二容器。第二框架用万向接头连接到第二容器，并且具有铰接或固定连接的第一容器。每个框架提供在框架下方和驳船之间的空间，使得能够将包装提升和/或海洋船舶定位在驳船之间和框架下方。以这种方式，已经从海床抢救的物体可以被放置在位于驳船之间并在框架下方的船舶上。

15. 发明申请

WO2008068445A1 METHOD AND APPARATUS FOR ACTIVE HEAVE COMPENSATION 审中-公开
标题翻译：用于主动补偿的方法和装置
公开(公告)号：WO2008068445A1
公开(公告)日：2008-06-12
申请号：PCT/GB2006/050430
申请日：2006-12-06
申请人： VARCO I/P, INC. , LUCAS, Brian , KYLLINGSTAD, Age
发明人： KYLLINGSTAD, Age
IPC分类号： G05D1/02 , E21B19/00
CPC分类号： E21B19/09 , G05D1/0208
摘要： Methods and apparatuses for active heave compensation, the method, in certain aspects, including the steps of: (a) measuring with a measurement device (44) the heave of a vessel (10) and outputting a heave signal representative thereof; (b) using said heave signal to compensate for said heave by moving a connection device (20) relative to said vessel (10) as a function of said heave signal, whereby movement due to said heave of a load attached to said vessel via the connection device is reduced; said heave signal comprising errors induced by said measurement device (44) whereby accuracy of said compensation is reduced; (c) processing said heave signal so as to reduce said errors and outputting an adjusted heave signal; and (d) using said adjusted heave signal to move said connection device (20) to compensate for said heave.
摘要翻译：用于主动升沉补偿的方法和装置，该方法在某些方面包括以下步骤：（a）用测量装置（44）测量容器（10）的起伏并输出代表其的起伏信号; （b）根据所述升沉信号，通过相对于所述容器（10）移动连接装置（20）来使用所述升沉信号来补偿所述升沉，由此由于所述沉积物的所述沉降的移动连接装置减少; 所述升起信号包括由所述测量装置（44）感应的误差，从而降低所述补偿的精度; （c）处理所述升沉信号以便减少所述误差并输出调整的升沉信号; 和（d）使用所述调整的升沉信号来移动所述连接装置（20）以补偿所述起伏。

16. 发明申请

WO1981002442A1 RISER ANGLE POSITIONING SYSTEM AND PROCESS 审中-公开
标题翻译：升角定位系统和过程
公开(公告)号：WO1981002442A1
公开(公告)日：1981-09-03
申请号：PCT/US1981000214
申请日：1981-02-20
申请人： OFFSHORE CO
发明人： OFFSHORE CO , DEAN W
IPC分类号： E21B44/00
CPC分类号： E21B47/0001 , E21B41/0014 , E21B47/02 , G05D1/0208
摘要： A riser angle positioning system and process provides information for dynamically positioning a floating vessel (10) having a riser (12) extending to a wellhead on the ocean floor. The system comprises an acoustic system (46) for generating acoustic data signals representing the position of the vessel with respect to the wellhead, top (42) and bottom (44) riser inclinometers for generating respective sensor signals indicating angles of deflection of the riser at the top and bottom, respectively, thereof, and a processor (40) responsive to the acoustic data signals and the sensor signals for generating positioning information. The riser angle positioning system and process serve as a backup system and method for checking the acoustic data for large errors, and additionally provide the sole position determining system and method in case of acoustic black-out. The riser angle positioning system and process have two alternative modes of operation: a simulator mode during which the vessel position is calculated from data read from a dynamic positioning system magnetic tape log, and a real time mode during which data is read directly from analog-to-digital converters associated with the top (42) and bottom (44) inclinometers and the acoustic system (46).

17. 发明申请

WO2015071695A1 METHOD FOR REDUCING THE SWINGING OF SHIPS, ANCHORED OR MOORED TO A BUOY, AND DEVICE FOR THE IMPLEMENTATION THEREOF 审中-公开
标题翻译：用于减少悬挂在船上的货物的移动方法，以及用于其执行的装置
公开(公告)号：WO2015071695A1
公开(公告)日：2015-05-21
申请号：PCT/GR2014/000064
申请日：2014-11-13
申请人： KARAGIANNIS, Michail
发明人： KARAGIANNIS, Michail
IPC分类号： B63B39/08 , B63B21/00 , B63H25/42 , B63H25/46 , G05D1/02
CPC分类号： B63B21/00 , B63B39/08 , B63H25/42 , B63H25/46 , G05D1/0208
摘要： A method for reducing the swinging of an anchored or moored to a buoy ship, by the suitable activation of the bow thruster and the stern thruster of the ship in accordance with the signals obtained by at least one of the following sensors: a) gyroscope, b) magnetometer, c) anemometer, d) GPS, e) inertial navigation system, f) a device measuring the angle between the longitudinal axis of the ship and the vertical plane through the anchor chain of the ship, is described.
摘要翻译：根据由以下传感器中的至少一个获得的信号，通过适当激活船首推进器和船尾推进器来减少锚泊或系泊至浮标船的摆动的方法：a）陀螺仪， b）磁力计，c）风速计，d）GPS，e）惯性导航系统，f）测量船舶的纵向轴线与通过船锚的垂直平面之间的角度的装置。

18. 发明申请

WO2014175831A1 A SYSTEM AND METHOD FOR DYNAMICALLY POSITIONING A FLOATING VESSEL ALONGSIDE A TURRET MOORED FLOATING VESSEL 审中-公开
标题翻译：一种用于动态定位浮动式船舶的系统和方法
公开(公告)号：WO2014175831A1
公开(公告)日：2014-10-30
申请号：PCT/SG2014/000182
申请日：2014-04-25
申请人： KEPPEL OFFSHORE & MARINE TECHNOLOGY CENTRE PTE. LTD.
发明人： Merchant, Aziz , Hussain, Anis , Choudhary, Ankit Kumar
IPC分类号： B63H25/42 , B63H21/21 , B63B35/44 , G05D1/08
CPC分类号： G05D1/0208 , B63B1/107 , B63B35/00 , B63B35/44 , B63B2035/448 , B63H5/125 , B63H25/04 , B63H25/42 , G08G3/02
摘要： A rapid transition floating vessel that is able to follow the yaw motions of a turret moored floating vessel is provided. The rapid transition floating vessel includes a system and processes for dynamically positioning the floating vessel alongside a turret moored floating vessel whereby the floating vessel remains at a safe distance while being connected to the turret moored floating vessel. This is achieved by the floating vessel following the yaw motions of the turret moored floating vessel as the turret moored floating vessel weathervanes about a centre of the turret moorings.
摘要翻译：提供了能够跟随炮塔系泊浮动船的偏航运动的快速过渡浮动船。快速过渡浮动船舶包括一个系统和用于将浮船沿着塔架系泊的浮动船舶动态定位的过程，由此浮动船只在连接到塔架系泊的浮动船舶时保持安全距离。这是由于随着炮塔系泊浮动船只的偏航运动，随着炮塔系泊在浮筒上的浮船，围绕炮塔系泊中心的风向标，实现了这一点。

19. 发明申请

WO2012104565A1 PROCEDE ET DISPOSITIF FLOTTANT AUTONOME D'ASSERVISSEMENT DE POSITION D'UNE EMBARCATION NAUTIQUE. 审中-公开
标题翻译：自动浮动装置和方法，用于消除NAUTICAL CRAFT的位置
公开(公告)号：WO2012104565A1
公开(公告)日：2012-08-09
申请号：PCT/FR2012/050244
申请日：2012-02-03
申请人： ALGORITHME , DELACHE, Alain , CASTELO-DELACHE, Véronique
发明人： DELACHE, Alain , CASTELO-DELACHE, Véronique
IPC分类号： G05D1/02 , B63H25/04
CPC分类号： G05D1/0208 , B63B35/665 , B63B35/68 , B63B2035/007 , B63H25/04 , B63H25/42 , B63H2025/005 , B63H2025/045
摘要： Le dispositif (105) flottant autonome d'asservissement de position d'une embarcation mobile, caractérisé en ce qu'il comporte; un moyen (150) de détermination de position géographique, un organe de propulsion (170), une source d'énergie (160) pour alimenter l'organe de propulsion, un moyen d'orientation (165) de la force exercée par l'organe de propulsion, un moyen (135) d'attache d'un filin relié à ladite embarcation, un moyen de sélection d'une zone géographique et des moyens de contrôle de l'organe de propulsion et du moyen d'orientation, adaptés, en fonction de la position géographique du dispositif à maintenir le dispositif dans ladite zone géographique.
摘要翻译：一种用于从动装置的位置的自主浮动装置（105），其特征在于，它包括：用于确定地理位置的装置（150），推进构件（170），用于为推进构件供能的能量源，用于定向由推进构件施加的力的装置（165），用于连接连接到所述飞行器的绳索的装置（135），用于选择地理区域的装置和用于控制推进构件和定向装置的装置，作为装置的地理位置的函数，适合于将装置维持在所述地理区域中。

20. 发明申请

WO2012080241A1 THRUST ALLOCATION IN DYNAMIC POSITIONING SYSTEMS 审中-公开
标题翻译：动态定位系统中的分配
公开(公告)号：WO2012080241A1
公开(公告)日：2012-06-21
申请号：PCT/EP2011/072598
申请日：2011-12-13
申请人： BLUEWATER ENERGY SERVICES B.V. , TJALLEMA, Arjen René , ROOS, Cornelis
发明人： TJALLEMA, Arjen René , ROOS, Cornelis
IPC分类号： G05D1/02 , B63H25/42
CPC分类号： G05D1/0208 , B63H21/22 , B63H25/42
摘要： A computer-implemented method and a generator for generating thruster settings for an over-actuated thrust allocation system are described. Said thruster settings are configured to control thrusters of at least one craft such that the craft is kept on a desired position or track. The method comprises; receiving a total desired thrust, preferably the total desired force and the total desired moment, associated with said desired position or track; calculating said thruster settings by executing a program including minimizing a cost function associated with said thrusters on the basis of said total desired thrust and one or more non-linear thruster constraints associated with the physical or operational limits of said thrusters; wherein said cost function and said one or more non-linear thruster constraints are modelled as a second order cone program comprising a linear cost function and one or more second-order convex cone constraints.
摘要翻译：描述了一种计算机实现的方法和用于产生用于过度致动的推力分配系统的推进器设置的发电机。所述推进器设置被配置成控制至少一个飞行器的推进器，使得飞行器保持在期望的位置或轨道上。该方法包括：接收与所述期望的位置或轨道相关联的总所需推力，优选总的期望力和总期望力矩; 通过执行程序来计算所述推进器设置，所述程序包括基于所述总预期推力和与所述推进器的物理或操作限制相关联的一个或多个非线性推进器限制来最小化与所述推进器相关联的成本函数; 其中所述成本函数和所述一个或多个非线性推进器约束被建模为包括线性成本函数和一个或多个二阶凸锥约束的二阶锥体程序。

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