The present invention relates to a pile gripper positioning system for a pile gripper configured to be disposed on a vessel to engage with a single pile during a single pile installation process, where the pile gripper positioning system comprises:-an actuator system for applying a force to the pile gripper to position the pile gripper relative to the vessel,-a measurement system for measuring the position of the pile gripper relative to the vessel, the present invention relates to a pile gripper comprising:-an actuator system for determining a position of a single pile in the pile gripper relative to a vessel, and-a pile gripper control unit for driving the actuator system as a function of a desired position of the single pile and an actual position of the single pile measured by a measurement system, where the pile gripper control unit is configured to receive a signal representative of the position of the vessel, during at least a portion of the single pile installation process, the pile gripper control unit is configured to determine a drive signal for the actuator system to compensate for at most a portion of the deviation of the position of the vessel from the desired position of the vessel, and wherein during at least a portion of the single pile installation process, the actuator system is configured to actuate the actuator system. A pile gripper control unit for driving the actuator system is configured to drive the actuator system according to a desired position of the single pile and an actual position of the single pile measured by the measurement system, and to compensate for at most a portion of the deviation of the position of the vessel from the desired position of the vessel with the drive signal.
本发明涉及一种用于夹桩器的夹桩器定位系统,该夹桩器配置为设置在船上以在单桩安装过程期间与单桩接合,其中,夹桩器定位系统包括:‑致动器系统,用于向夹桩器施加力以相对于船定位夹桩器,‑测量系统,用于确定单桩在夹桩器中相对于船的位置,以及‑夹桩器控制单元,用于根据单桩的期望位置和由测量系统测量的单桩的实际位置来驱动致动器系统,其中,夹桩器控制单元配置为接收代表船的位置的信号,其中,在单桩安装过程的至少一部分期间,夹桩器控制单元配置为确定用于致动器系统的驱动信号,以补偿船的位置与船的期望位置的偏差的至多一部分,并且其中,在单桩安装过程的至少一部分期间,用于驱动致动器系统的夹桩器控制单元配置为根据单桩的期望位置和由测量系统测量的单桩的实际位置来驱动致动器系统,并且利用驱动信号来补偿船的位置与船的期望位置的偏差的至多一部分。
Pile gripper positioning system, dynamic positioning system, single pile installation ship and corresponding method
夹桩器定位系统、动态定位系统、单桩安装船及相应方法
2025-04-15
Patent
Electronic Resource
Chinese
European Patent Office | 2025
|European Patent Office | 2024
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