Vessel, Motion Platform, Control System and Method for Compensating Motions of a Vessel

Abstract

A vessel ( 1 ) including a motion platform ( 4 ), which platform comprises: —at least one carrier ( 6 ) for bearing, moving and/or transferring a load; —a gangway ( 16 ) provided with a first end pivotably connected to the carrier and an opposite second end; —a multiple number of first actuators ( 5 a ) for moving the carrier relative to the vessel; —a control system ( 8 ) arranged for driving the multiple number of first actuators, wherein a cable ( 20 ) extends from the vessel and/or the motion platform to at least a position at or near the second end of the gangway.

1 . A vessel including a motion platform, which motion platform comprises:
 at least one carrier for bearing, moving and/or transferring a load;   a gangway provided with a first end pivotably connected to the carrier and an opposite second end;   a multiple number of first actuators for moving the carrier relative to the vessel;   a control system arranged for driving the multiple number of first actuators, wherein a cable extends from the vessel and/or the motion platform to at least a position at or near the second end of the gangway.   
     
     
         2 . The vessel according to  claim 1 , wherein the cable is connected to the vessel or the motion platform by at least a winch. 
     
     
         3 . The vessel according to  claim 1 , wherein the cable is provided with a connecting element at an end opposite the vessel and/or motion platform, for connecting to another vessel or structure. 
     
     
         4 . The vessel according to  claim 1 , wherein at least one second actuator is provided for moving the gangway relative to the carrier, wherein the control system is also arranged for driving the at least one second actuator. 
     
     
         5 . The vessel according to  claim 4 , wherein the control system is arranged for compensating a motion of the vessel in at least one degree of freedom by driving the at least one second actuator. 
     
     
         6 . The vessel according to  claim 1 , wherein at least one second actuator is arranged for pivoting the gangway with respect to a first pivoting axis substantially transverse with respect to a longitudinal axis of the gangway. 
     
     
         7 . The vessel according to  claim 1 , wherein at least one second actuator is arranged for pivoting the gangway with respect to a second pivoting axis substantially transverse with respect to the carrier. 
     
     
         8 . The vessel according to  claim 1 , wherein the first gangway end is provided on a first gangway section, wherein the second gangway end is provided on a second gangway section, and wherein at least one second actuator is arranged for moving the second gangway section with respect to the first gangway section substantially along a gangway longitudinal axis. 
     
     
         9 . The vessel according to  claim 1 , wherein the motion compensation platform comprises a Stewart platform with at least one of hydraulic, pneumatic or electric cylinders. 
     
     
         10 . An assembly of a vessel according to  claim 1  and a mooring element, wherein the mooring element comprises a counter coupling element for coupling to the cable and/or a coupling element connected to the cable. 
     
     
         11 . The assembly according to  claim 10 , wherein the mooring element is provided with a receptacle for receiving the second end of the gangway, within and/or over the receptacle. 
     
     
         12 . The assembly according to  claim 10 , wherein the second end of the gangway and the mooring element are configured such that the mooring element can be carried by the gangway during movement thereof relative to the vessel. 
     
     
         13 . The assembly according to  claim 10 , wherein the mooring element is provided with connecting elements for connecting the mooring element to a vessel or structure. 
     
     
         14 . A motion platform, for a vessel as described in  claim 1 , which motion platform comprises at least one carrier for bearing, moving and/or transferring a load, a gangway provided with a first end pivotably connected to the carrier and a second end for contacting a target area, a multiple number of first actuators for moving the carrier relative to the vessel, at least a second actuator for moving the gangway relative to the carrier, a control system arranged for driving the multiple number of first actuators, wherein the control system is also arranged for driving the at least one second actuator, and wherein a cable is provided which is or can be carried at or near the second end of the gangway. 
     
     
         15 . A method for providing a gangway between a first vessel and second vessel or a structure, wherein the gangway is carried at a first end by a motion platform on the first vessel and has an opposite second end, wherein further a cable is provided, connected to the second vessel or structure, comprising the steps of:
 moving the gangway by the motion platform in an active mode, such that the second end is brought to a position near or in contact with the second vessel or structure;   connecting the cable to the second vessel or structure;   allowing the motion platform to follow the movements of the first vessel relative to the movements of the second vessel or structure, by bringing the platform from an active mode into an inactive mode and/or   allowing the gangway to follow the movements of the first vessel relative to the movements of the second vessel or structure, by bringing the gangway from an active mode into an inactive mode.   
     
     
         16 . The method according to  claim 15 , wherein the cable during transfer to and/or from the second vessel or structure is carried by the gangway and the cable is released from the gangway after connecting the cable to the second vessel or structure, and is pulled taut, before allowing the motion platform to follow the relative movements. 
     
     
         17 . The method according to  claim 15 , wherein the motion platform is moved actively while moving the second end of the gangway to the second vessel or structure, whereas the motion platform is allowed to passively follow the relative movements of the vessel after coupling the cable and/or the second end of the gangway to the second vessel or structure. 
     
     
         18 . The method according to  claim 15 , wherein the motion platform is moved actively while moving the second end of the gangway to the second vessel or structure, wherein the gangway is allowed to passively follow the relative movements of the vessel after coupling the cable and/or the second end of the gangway to the second vessel or structure. 
     
     
         19 . The method according to  claim 15 , wherein after coupling the cable to the second vessel or structure, the cable is pulled taut, wherein the second end of the gangway is pushed against the second vessel or structure, at least partly by pushing a second part of the gangway in a length direction of the gangway away from the platform. 
     
     
         20 . The vessel according to  claim 1 , wherein the cable is provided with a connecting element at an end opposite the vessel and/or motion platform, for connecting to another vessel or structure, wherein the connecting element comprises at least a first prong for hooking over an element connected to the gangway and at least a second prong for hooking over a coupling element provided on the other vessel or structure, and wherein the element connected to the gangway is rod shaped and wherein the coupling element provided on the other vessel or structure is rod shaped. 
     
     
         21 . The method according to  claim 15 , wherein the cable is provided with a connecting element at an end opposite the vessel and/or motion platform, for connecting to another vessel or structure, comprising the steps of:
 hooking at least a first prong of the connecting element over an element connected to the gangway;   carrying the coupling element to a coupling element at the other vessel or structure;   hooking at least a second prong of the connecting element over the said coupling element provided on the other vessel or structure;   releasing the first prong from the element connected to the gangway; and   moving a free end of the gangway towards the other vessel or structure.   
     
     
         22 . A motion platform for a an assembly according to  claim 10 , which motion platform comprises at least one carrier for bearing, moving and/or transferring a load, a gangway provided with a first end pivotably connected to the carrier and a second end for contacting a target area, a multiple number of first actuators for moving the carrier relative to the vessel, at least a second actuator for moving the gangway relative to the carrier, a control system arranged for driving the multiple number of first actuators, wherein the control system is also arranged for driving the at least one second actuator, and wherein a cable is provided which is or can be carried at or near the second end of the gangway.