Key information

Title
A portable system and method for monitoring a marine lifting operation
Application number
20220992
Case type
National
Status
21.08.2023 Patent meddelt (B1)
Filed
19.09.2022
Effective date
19.09.2022
Publicly available
21.08.2023
Next annual fee due
30.09.2027
Applicant
Miko Innovasjon AS (NO)
Owner
MIKO INNOVASJON AS (NO)
Inventor
Nicolai Michelsen (NO)
Agent
AWA NORWAY AS (NO)
Granted
21.08.2023
Patent number
347270
Expiry date
19.09.2042

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.
The present invention concerns a method, a computer program product and a portable system for monitoring the lifting of a load (1) to, or from, a floating structure (2) during a marine lifting operation. The portable system comprises at least one marker (4) for reflecting a signal, a sensor unit (5) for detecting the reflected signal (6a) and a processing unit (10) for computing position, velocity and / or acceleration data of the load (1) relative to the floating structure (2). The at least one marker (4) is attachable to the floating structure (1), and the sensor unit (5) is attachable to the load (1).

Publications

B1A1
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Documents

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Date
 Date Doc. No. Process Case number In/Out Journal description To/from
 15.05.2025 02-01 Endring av søker/innehaver 2025/06164 UT GH Forespørsel AWA NORWAY AS
 07.05.2025 01-01 Endring av søker/innehaver 2025/06164 INN Generell henvendelse AWA NORWAY AS
 02.08.2024 12-01 Saksbehandling 20220992(347270) UT PT Varsel om betaling av første årsavgift (3317) (PT20220992) AWA NORWAY AS
 24.08.2023 11-01 Saksbehandling 20220992(347270) UT PT Registreringsbrev nasjonal patent (15) (PT20220992)
07.06.2023 10-01 Saksbehandling 20220992 UT Intention to grant AWA NORWAY AS
 01.06.2023 09-02 Saksbehandling 20220992 INN 176549 Krav oversatt til norsk AWA NORWAY AS
 01.06.2023 09-01 Saksbehandling 20220992 INN Korrespondanse (Hovedbrev inn) AWA NORWAY AS
 22.05.2023 08-01 Saksbehandling 20220992 UT Substantive examination AWA NORWAY AS
 16.01.2023 07-06 Saksbehandling 20220992 INN 176549 Letter to the NIPO Reply first OA AWA NORWAY AS
 16.01.2023 07-05 Saksbehandling 20220992 INN 176549 Description Amended First OA AWA NORWAY AS
 16.01.2023 07-04 Saksbehandling 20220992 INN 176549 Description Amended First OA Marked AWA NORWAY AS
 16.01.2023 07-03 Saksbehandling 20220992 INN 176549 Claims Amended First OA AWA NORWAY AS
 16.01.2023 07-02 Saksbehandling 20220992 INN 176549 Claims Amended First OA marked AWA NORWAY AS
 16.01.2023 07-01 Saksbehandling 20220992 INN Korrespondanse (Hovedbrev inn) AWA NORWAY AS
 09.12.2022 06-02 Saksbehandling 20220992 UT PT report 10:58:10
09.12.2022 06-01 Saksbehandling 20220992 UT Substantive examination AWA NORWAY AS
 04.10.2022 05-01 Saksbehandling 20220992 UT Infobrev til oppfinner AWA NORWAY AS
 04.10.2022 04-01 Saksbehandling 20220992 INN SV Retur av informasjonsbrev til oppfinner AWA NORWAY AS
 03.10.2022 03-01 Saksbehandling 20220992 INN Korrespondanse (Hovedbrev inn) Nicolai Michelsen
 20.09.2022 02-01 Saksbehandling 20220992 UT Informasjon til oppfinner Nicolai Michelsen
 19.09.2022 01-07 Saksbehandling 20220992 INN 176549Claims AWA NORWAY AS
 19.09.2022 01-06 Saksbehandling 20220992 INN 176549 Fullmakt Miko Innovasjon AS AWA NORWAY AS
 19.09.2022 01-05 Saksbehandling 20220992 INN 176549 Figures AWA NORWAY AS
 19.09.2022 01-04 Saksbehandling 20220992 INN 176549 Erklæring AWA NORWAY AS
 19.09.2022 01-03 Saksbehandling 20220992 INN 176549 Description AWA NORWAY AS
 19.09.2022 01-02 Saksbehandling 20220992 INN 176549 Abstract AWA NORWAY AS
 19.09.2022 01-01 Saksbehandling 20220992 INN Søknadsskjema Patent AWA NORWAY AS

Description, claims and drawings

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content. Description
Technical FieldThe present invention concerns monitoring of marine lifting operations. Specifically, the present invention concerns monitoring the lifting of a load to, or from, a floating structure during a marine lifting operation.BackgroundDuring any lifting operation, it is important for operators to have information on the relative and / or absolute positions of a load, in order to perform a safe, fast, and accurate lifting operation. For marine lifting operations, such information is even more crucial, as the lifting device may be mounted on a floating platform or vessel. Thereby the lifting device may be subject to motions caused by wind, waves, currents, and / or mechanically induced motions resulting from the lifting itself. In order to monitor the relative positions of a load and a floating lifting device, systems exist, relying, for instance, on visual monitoring, and / or laser positioning. Often such systems are combined with GPS. In each case, the load is equipped with one or more markers and the lifting device, or the floating platform on which the lifting device is mounted, is provided with a corresponding sensor. The sensor observes the one or more markers, such that relative positions of the load and the lifting device can be computed, based on the sensor signal.Recently, interest in floating structures has increased, in favor of bottom-fixed installations. Bottom-fixed installations may be too expensive, have too much ecological impact, or simply be impractical, for instance, in deep-water environments. Floating structures may, e.g., include floating wind turbines or floating wind turbine bases, floating hydrocarbon exploration and production installations, or floating docking or transport systems. A lifting operation involving the transfer of a load to, or from, a floating structure by a floating lifting device does, however, add further complexity. As the floating structure may move under the influence of wind, waves, and / or currents, at least two sets of motions that must be taken into account when monitoring the lifting operation; the motions of the floating structure and of the load.Consequently, there is a clear need to provide an improved system for monitoring marine lifting operations involving a floating structure. Preferably, such a system should be portable, such that it can be utilized during consecutive lifting operations involving different loads, and different corresponding floating structures. Furthermore, the system should preferably provide real-time information during the lifting operation. Thereby actual position and / or motion of the load relative to the floating structure may be compared with operational criteria. The operational criteria may for instance include limits on the relative position and / or motion of the load with respect to the floating structure, beyond which safe operation is no longer feasible. The actual position and / or motion of the load relative to the floating structure may also be compared with other relevant input, such as weather data and / or forecasts, wave data and / or forecasts, or current data and / or forecasts. All these comparisons may assist the operator in operational decision-making in proceeding, correcting or aborting the lifting operation.US 4932541 A discloses a stabilized cargo-handling system using means for stabilizing suspended cargo in all six degrees of freedom using six individually controlled cables in tension in a unique kinematic arrangement. Inertial and distance sensors, coupled with high-performance cable drives, provide the means to control the multi-cabled crane automatically.WO 2018/160681 A1 discloses an apparatus for and methods of facilitating transfer of objects using a crane, including a target tracking device mounted on or near a crane at a first location, and a target located near landing location for the object. The targe tracking device and the target facilitate real time determination of relative motion between the two locations.Summary of the inventionThe present invention concerns a system according to claim a portable system for monitoring the lifting of a load to, or from, a floating structure during a marine lifting operation. The portable system comprises at least one marker for reflecting a signal, a sensor unit for detecting the reflected signal, anda processing unit for computing position, velocity and / or acceleration data of the load relative to the floating structure. The at least one marker is attachable to the floating structure, and the sensor unit is attachable to the load. The present invention also concerns a method for monitoring the lifting of a load to, or from, a floating structure during a marine lifting operation, comprisingproviding a portable system according to the invention, attaching at least one marker to a floating structure, attaching the sensor unit to a load andreceiving a reflected signal by the sensor unit. Position, velocity and / or acceleration data of the load relative to the floating structure are computed by the processing unit, based on the reflected signal. The invention also concerns a computer program product comprising machine readable instructions which, when the computer program is executed by a processing unit, cause the processing unit to compute position, velocity and / or acceleration data of the load relative to the floating structure.Advantageously, the portable system, can be transferred from one lifting operation to the next, providing increased flexibility. Furthermore, by computing position, velocity and / or acceleration data of the load relative to the floating structure, an ongoing lifting operation can be easily compared to operational criteria. Thereby, an operator may monitor and verify safe operation, or if necessary take corrective actions or even abort the operation.FiguresFig. 1 schematically shows a system according to the present invention.Fig. 2 schematically shows of a detail of the system of Fig. 1.Fig. 3 shows a flow-diagram of a computer program product according to the invention.Detailed descriptionHereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying figures. Like components will be denoted by like reference numerals throughout the description and figures. Referring to fig. 1, a portable system for monitoring of a marine lifting operation according to the invention for a marine lifting operation is schematically shown. A load 1 is lifted to, or from, a floating structure 2, by a lifting device 3. The lifting device 3 may be mounted on a floating platform or a vessel. The load 1 may, for instance, be a wind turbine component, such as a tower, a rotor-blade, or a nacelle. Alternatively, the load 1 may be a component, or a module, of a floating hydrocarbon installation. Further alternatively, the load 1 may be an aquaculture component, a cargo element, or an element recovered in a marine salvage operation, such as a part of a wreckage or retrieved cargo. The floating structure 2 may be a floating wind turbine base, a floating hydrocarbon installation, a vessel, a floating dock, or a floating aquaculture installation. The floating structure 2 may include a reference point and / or a landing platform, onto to which, or from which, the load 1 is to be lifted. A floating hydrocarbon installation may be a floating drill rig component, a floating production storage offloading (FPSO) vessel, or a floating dry-tree.The portable system includes at least one marker 4. The marker 4 is attachable to the floating structure 2. Thereto, the marker 4 includes means for releasable attachment, such as suction means, adhesive means, magnetic means, or combinations thereof. Preferably, the means for releasable attachment are magnetic means. The magnetic means may include one or more electro-magnets, or one or more permanent magnets, such as switchable permanent magnets. Thereby, the marker may be attached in a gentle manner to the surface of the structure, so as to avoid damaging the surfaces of the floating structure. The marker 4 can advantageously be attached to one load for a first lifting operation, subsequently be released, and attached to a new load for a further lifting operation. Thereby, the marker can easily be transferred between different floating structures to be utilized in different marine lifting operations, regardless of the location or floating structure type. The system may include multiple markers, such as four markers 4, eight markers 4, or more markers 4. For complicated floating structure geometries, some markers may serve as a backup in case one or more markers are obscured during the lifting operation.The marker 4 further includes a reflective surface, such as a reflector, a polished surface, or a mirror surface. Alternatively, or additionally, the marker 4 may include a visual pattern, or a highly visible color, such as a fluorescent color. Thereby, the marker both reflects a signal and may be easily visible when placed on the load.Preferably, each marker 4 is provided with a unique identifier, such as an RFID tag, a barcode, a QR code, a serial number, or a visual tag. The identifier allows an operator to keep track of different markers, both during the lifting operation and when transferring markers between one lifting operation and the next. Furthermore, by providing each marker with a unique identifier it is possible to identify and track specific parts of the floating structure. For instance, a unique identifier may be associated to each structural element of the floating structure. Such identification may be particularly beneficial when a load must precisely matched to the geometry of the floating structure.The portable system further includes a sensor unit 5. The sensor unit 5 is attachable to the load 1. Thereto, the sensor unit 5 includes means for releasable attachment 5a, such as suction means, adhesive means, magnetic means, or a combination thereof. Thereby, a reliable and secure releasable attachment of the sensor unit to the floating structure can be ensured. Preferably, the means for releasable attachment 5a are magnetic means. The magnetic means may include one or more electro-magnets, or one or more permanent magnets, such as switchable permanent magnets. By utilizing electro-magnets or switchable permanent magnets, the sensor unit may be attached to the load in a gentle manner, so as to avoid damaging the surface of the load. The sensor unit 5 can thereby advantageously be attached to one load for a first lifting operation and subsequently be attached to a new load for a further lifting operation. Thereby the sensor unit can easily be transferred between different marine lifting operations, regardless of the location or the type of load.With reference to fig. 2, the sensor unit 5 includes at least one sensor 6, for recording a reflected signal 6a from the at least one marker 4. The sensor 6 converts the reflected signal 6a into signal data. Preferably, the signal data are real-time signal data. The sensor 6 may be an imaging device, such as an optical camera.Alternatively, the sensor 6 may be a laser sensor, such as a laser distance sensor, a time-of-flight sensor, or a lidar. Further alternatively, the sensor 6 may be an ultrasound sensor, a radar, or an IR sensor. Preferably, the sensor 6 is a laser distance sensor. Advantageously, a laser distance sensor may achieve high accuracy whilst being operable in low-visibility situations, such as rain or fog. Optionally, the sensor unit 5 may include multiple sensors 6. The multiple sensors 6 may be the same type of sensors, or may be different types of sensors. Preferably, the multiple sensors 6 include at least one wide-angle sensor, such as a wide-angle camera, a lidar, or a wide-angle ultrasonic transducer. The wide-angle sensor advantageously provides a situation overview, thereby providing an operator with valuable situation awareness during the lifting operation. Further preferably, the multiple sensors include at least one precision sensor, such as a laser distance sensor, or a time-of-flight sensor.Advantageously, the precision sensor provides accurate position, velocity and / or acceleration data during the lifting operation, thereby providing an operator with the required accuracy to monitor and control the lifting operation.Turning, next, to the reflected signal 6a detected by the sensor 6, the reflected signal 6a may be reflected ambient light, a reflected laser signal, a reflected radar signal, a reflected sound or ultra-sound signal, or a reflected IR signal. The sensor unit 5 may further include a signal device 7, for emitting a signal 7a that may be reflected by the marker 4. The signal device 7 may be arranged to emit an optical signal, a laser signal, a sound signal, an ultrasound signal, or an IR signal. In operation, the signal device 7 may, for instance, emits a laser pulse signal 7a. The laser pulse signal 7a is reflected by a marker 4, and the reflected laser pulse signal 6a is received by the sensor 6. The sensor 6 then outputs the reflected signal data to a processing unit (described below), preferably in real-time. The sensor unit 5 further includes a communication module 8, for transmitting signal data from the sensor 6 to a processing unit (described below). The communication module 8 is connected to the sensor 6. The communication module 8 may also be connected to the optional signal device 7, for transferring instructions thereto. The communication module 8 may include a Wi-Fi-unit, a blue-tooth unit, a 4G unit, a 5G unit, or a radio frequency unit. Preferably, the communication module 8 is configured to connect the sensor unit 5 to an Internet-of-Things (I-o-T) network.Additionally, the sensor unit 5 may include a robotic arm 5b, arranged to adjust the position of the sensor unit 5. The robotic arm 5b is preferably installed between the releasable attachment means 5a and the sensor unit 5. The robotic arm 5b may be extendable, and may include one or more hydraulically or electrically driven, extendable elements. The robotic arm 5b preferably includes one or more joints. The robotic arm 5b is arranged to adjust the position of the sensor unit 5 along three spatial axis, for instance to compensate for movement of the load 1 during a lifting operation. The robotic arm 5b may further be arranged to perform rotational movements to adjust for roll, pitch and jaw movements of the load. The robotic arm 5b may be controlled by a processing unit (described below). Alternatively, the robotic arm 5b may be controlled by a processor included in the sensor unit 5. The robotic arm 5b may, for instance, be arranged to adjust the position of the sensor unit 5 such that the sensor 6 maintains a clear line of sight to the one or more markers 4 on the floating structure 2. The sensor unit 5 may further include a GPS module and / or a gyroscope module. The GPS module and / or the gyroscope module may be arranged to send position and / or orientation data to the processor, based on which the processor may adjust the robotic arm. The sensor unit 5 may optionally include a location beacon. Thereby, the precise location of the sensor unit may be transmitted to a processing unit (detailed below).The sensor unit 5 further includes a power source 9. The power source 9 may preferably include a battery, such as a rechargeable battery. By including a power source, the sensor unit can operate autonomously, without the need for a physical connection to a power grid, improving the portability of the system. The power source may further include a solar panel, or a compact wind turbine, mounted on the sensor unit 5. Thereby, the battery may be charged during operation and autonomy of the system may be further increased. The portable system further includes a processing unit 10, for processing the reflected signal data received from the sensor unit 5. Thereto, the processing unit 10 includes at least a CPU, a memory module, and an I/O interface. Preferably, the processing unit 10 includes a screen. The screen may have touch-screen functionality. The processing unit 10 may be configured to receive input data, such as operational criteria for the lifting operation. The operational criteria may, for instance, include limits on the relative position, velocity and / or acceleration of the load with respect to the floating structure, beyond which a safe lifting operation is no longer feasible. The operational criteria may also include actual data and / or forecasts for weather, waves and / or currents. Current forecasts may, for instance, include forecasts on tidally induced currents. The processing unit 10 may further process the reflected signal data received from the sensor unit 5. The processing unit 10 may be configured to compute position, velocity and / or acceleration data of the load 1 relative to the floating structure 2, based on the reflected signal data 6a. Preferably the position, velocity and / or acceleration data are computed in three dimensions. Furthermore, the position, velocity and / or acceleration data are preferably computed in real-time. Thereby, an operator can be provided with accurate real-time information on the lifting operation. Additionally, by computing the position, velocity and / or acceleration of the load relative to the floating structure, a lower complexity is achieved.The processing unit 10 may further be configured to compare the computed position, velocity and / or acceleration data with the operational criteria. These comparisons may assist the operator in operational decision-making in proceeding, correcting, or aborting the lifting operation. The processing unit 10 may further be configured to send instructions to the sensor unit 5, such as instructions to emit a signal 7a and / or instructions to adjust the robotic arm 5b. The instructions may, optionally, be entered manually by an operator via an I/O interface or via a touch screen of the processing unit. The processing unit 10 is arranged to communicate with the communication module 8 of the sensor unit 5 via Wi-Fi, blue-tooth, 4G, 5G, or radio frequency signals. Preferably, the communication module 8 and the processing unit 10 are connected via an Internet-of-Things (I-o-T) network connection.Furthermore, the computed position and / or motion data and, optionally, the operational criteria, may be visualized on a screen of the processing unit 10 and / or on an external screen, driven by the processing unit 10. Preferably, the visualization may be in real-time. The visualization may preferably be in the time domain and / or the spatial domain, such as a 3D visualization. Based on the computed position, velocity and / or acceleration data and optionally, on the corresponding visualization, an operator may monitor and compare an ongoing lifting operation and, for instance, take informed decisions on progress of the operation. The processing unit 10 preferably includes a GUI, for data visualization in the time domain and / or in the spatial domain. The GUI may also be provided with interactive functionality, allowing an operator to turn the sensor unit 5 on and off, to send instructions to the signal device 7, and / or to adjust the robotic arm in order to manipulate the position and / or orientation of the sensor unit 5.The processing unit 10 may be located and / or operated remotely from the sensor unit 5. The processing unit 10 may, for instance, include a PC, a work station, a tablet computer, a smart phone, or a control panel. Advantageously, by utilizing a processing unit that can be located and / or operated remotely from the load, the energy demand on the sensor unit may be minimized. Thereby the sensor unit can operate for longer times on a single charge, increasing autonomy of the system. The processing unit 10 may, for instance, be located on the floating platform or vessel on which the lifting device 3 is located.A method for monitoring of a marine lifting operation includes providing a portable system according to the invention. The method further includes attaching at least one marker 4 to a floating structure 2. Optionally, multiple markers 4 are attached to the floating structure 2. For complex floating structure geometries, the risk of information loss due to one or more markers being obscured by parts of the floating structure during the lifting operation is thereby reduced. Next, the sensor unit 5 is releasably attached to a load 1. The marker 4 and the sensor unit 5 are placed such that reflected signals 6a from the marker 4 may be visible by the sensor 6 of the sensor unit 5. Operational criteria for the lifting operation may be entered, or downloaded, to the processing unit 10. The operational criteria may include limits for the position, the velocity and / or the acceleration of the load 1 relative to the floating structure 2, preferably in three dimensions. When approaching or exceed the limits for position, velocity and / or acceleration during a lifting operation, safe operation may no longer feasible. The operational criteria may further include data and / or forecasts on waves, weather and / or currents. Connection is established, between the communication module 8 and the processing unit 10. Optionally, the signal device 7 is activated, to send signals 7a to the marker 4. The signals 7a may be reflected by the marker 4. The lifting operation commences as the lifting device 3 starts lifting the load 1 to, or from, the floating structure 2. During lifting, the sensor 6 detects reflected signals 6a from the at least one marker 4. The reflected signals 6a may include ambient light, or signals 7a originally emitted by the signal device 7. The communication module 8 receives reflected signal data from the sensor 6 and transmits the reflected signal data to the processing unit 10. Preferably, the reflected signal data are real-time data. Next, the processing unit 10 computes position, velocity and / or acceleration data of the load 1 relative to the floating structure 2, preferably in three dimensions.Preferably, the computed position, velocity and / or acceleration data are real-time data.The computed relative position, velocity and / or acceleration data may be visualized on a screen of the processing unit 10 and / or on an external screen, driven by the processing unit 10. The computed data may be visualized by the processing unit 10 together with the operational criteria. The computed data may also be compared with the operational criteria by the processing unit 10. The comparison may, preferably, also be visualized. An operator may thereby infer real-time information on the progress of the lifting operation, to monitor and control the lifting operation. Thereby safe, fast, and accurate lifting may be performed, and uncertainty during lifting may be reduced. The lifting operation may, for instance, be paused, adjusted, or even aborted, if the computed data approach or exceed the limits set by the operational criteria. The processing unit 10 may emit a visible and / or an audible warning when the computed position, velocity and / or acceleration data approach or exceed the limits set by the operational criteria.The invention further concerns a computer program product including machine readable instructions, as schematically shown in fig. 3. The computer program product 11 may be configured to receive input 11a, including operational criteria for the lifting operation. The lifting operation then commences and the reflected signal from the one or more markers 4 on the floating structure 2 is detected by a sensor 6 of the sensor unit 5. The computer program is arranged to compute 11b position, velocity and / or acceleration data of the load 1 relative to the floating structure 2, from the detected reflected signal. Preferably, the position, velocity and / or acceleration data are computed in real-time and / or in three dimensions. The computer program product may further be configured to compare computed position, velocity and / or acceleration data to the operational criteria 11c. Finally, the computer program product may be configured to visualize the computed position, velocity and / or acceleration data and optionally, the operational criteria 11d and / or the comparison, within the GUI. The visualization may include plotting one or more graphs or figures within the GUI on a screen of the processing unit 10 or on an external screen, driven by the processing unit 10. The visualization may be in the time domain and / or the spatial domain. The computer program may further be arranged to initiate a visual and / or audible warning. The warning may, for instance, indicate how safe the operation is and / or if corrective actions are required, when the computed position, velocity and / or acceleration data approach and / or exceed the limits set by the operational criteria. For instance, when the computed velocity of the load 1 relative to the floating structure 2 approaches or exceeds a predefined limit in one or more spatial dimensions, the operator may be warned by an on-screen signal and / or an audible signal. The operator may then decide to proceed, adjust, or abort the lifting operation, in order to maintain operational safety.List of references1 load2 floating structure3 lifting device4 marker5 sensor unit5a means for releasable attachment5b robotic arm6 sensor6a reflected signal7 signal device7a emitted signal8 communication unit9 power source10 processing unit11 computer program product
Claims
Claims1. A portable system for monitoring the lifting of a load (1) to, or from, a floating structure (2) during a marine lifting operation, the portable system comprising: at least one marker (4) for reflecting a signal;a sensor unit (5) for detecting the reflected signal (6a); anda processing unit (10) for computing position, velocity and / or acceleration data of the load (1) relative to the floating structure (2);wherein the at least one marker (4) is attachable to the floating structure (2), and the sensor unit (5) is attachable to the load (1).2. The portable system according to claim 1, wherein the at least one marker (4) includes means for releasable attachment to the floating structure (2), such as magnetic means, suction means, or adhesive means, and wherein the sensor unit (5) includes means for releasable attachment (5a) to the load (1), such as magnetic means, suction means, or adhesive means.3. The portable system of claim 1 or 2, wherein the sensor unit (5) further comprises a robotic arm (5b), for adjusting the position and / or the orientation of the sensor unit (5) during the lifting operation.4. The portable system according to any preceding claim, wherein the sensor unit (5) includes at least one signal device (7) for emitting a signal (7a), such as a laser signal, a light signal, or an ultrasonic signal.5. The portable system of any preceding claim, wherein the processing unit (10) is arranged to receive operational criteria as input, wherein the operational criteria may comprise limits on the relative position, velocity and / or acceleration of the load (1) with respect to the floating structure (2) and / or actual data and / or forecasts for weather, waves and / or currents.6. The portable system of any preceding claim, wherein the processing unit (10) is arranged to compare computed position, velocity and / or acceleration data to the operational criteria, preferably in real-time.7. The portable system of any preceding claim, wherein the processing unit (10) comprises a PC, a work station, a smartphone, a tablet computer, or a control panel.8. The portable system of any preceding claim, wherein the sensor unit (5) further comprises a power source (9), the power source (9) preferably including a battery.9. The portable system of any preceding claim, wherein the sensor unit (5) comprises multiple sensors, and wherein the multiple sensors comprise at least one wide-angle sensor and at least one precision sensor.10. A method for monitoring the lifting of a load (1) to, or from, a floating structure (2) during a marine lifting operation, the method comprising:providing a portable system according to any one of claims 1 – 9;attaching at least one marker (4) to a floating structure (2);attaching the sensor unit (5) to a load (1);receiving a reflected signal (6a) by the sensor unit (5); andcomputing position, velocity and / or acceleration data of the load (1) relative to the floating structure (2) by the processing unit (10), based on the reflected signal (6a).11. The method of claim 10, further comprising receiving operational criteria for the lifting operation as input by the processing unit (10), wherein the operational criteria may comprise limits on the relative position, velocity and / or acceleration of the load (1) with respect to the floating structure (2), and / or actual data and / or forecasts for weather, waves and / or currents.12. The method of claim 11, further comprising comparing the computed position, velocity and / or acceleration data to the operational criteria and optionally, emitting a visible and / or an audible warning by the processing unit (10) when the computed position, velocity and / or acceleration data approach or exceed the operational criteria.13. The method of any one of claims 10 - 12, further comprising visualizing the computed position, velocity and / or acceleration data and optionally, the operational criteria and / or the comparison of computed data with operational criteria, on a screen of the processing unit (10) and / or on an external screen.14. A computer program product comprising machine readable instructions which, when the computer program is executed by a processing unit (10), cause the processing unit (10) to compute position, velocity and / or acceleration data of a load (1) relative to a floating structure (2).Krav1. Et bærbart system for å monitorere løfting av en last (1) til, eller fra, en flytende struktur (2) under en marin løfteoperasjon, hvori det bærbare systemet omfatter:minst én markør (4) for å reflektere et signal;en sensorenhet (5) for å detektere det reflekterte signalet (6a); og en prosesseringsenhet (10) for å beregne posisjon, hastighet og/eller akselerasjonsdata for lasten (1) i forhold til den flytende strukturen (2); hvori den minst ene markøren (4) kan festes til den flytende strukturen (2), og sensorenheten (5) kan festes til lasten (1).2. Det bærbare systemet ifølge krav 1, hvori den minst ene markøren (4) inkluderer midler for å løsbart kunne festes til den flytende strukturen (2), slik som magnetiske midler, sugemidler, eller klebemidler, og hvori sensorenheten (5) inkluderer midler for å løsbart kunne festes (5a) til lasten (1), slik som magnetiske midler, sugemidler, eller klebemidler.3. Det bærbare systemet ifølge krav 1 eller 2, hvori sensorenheten (5) videre omfatter en robotarm (5b), for å justere posisjonen og/eller orienteringen av sensorenheten (5) under løfteoperasjonen.4. Det bærbare systemet ifølge et hvilket som helst av de foregående krav, hvori sensorenheten (5) inkluderer minst én signalanordning (7) for å sende ut et signal (7a), slik som et lasersignal, et lyssignal eller et ultralydsignal.5. Det bærbare systemet ifølge et hvilket som helst av de foregående krav, hvori prosesseringsenheten (10) er innrettet til å motta driftskriterier som input, hvori driftskriteriene kan omfatte grenser for den relative posisjonen, hastigheten og/eller akselerasjonen til lasten (1) i henhold til den flytende strukturen (2) og/eller faktiske data og/eller prognoser for vær, bølger og/eller strømmer.6. Det bærbare systemet ifølge et hvilket som helst av de foregående krav, hvori prosesseringsenheten (10) er innrettet til å sammenligne beregnede posisjons-, hastighets- og/eller akselerasjonsdata med driftskriteriene, fortrinnsvis i sanntid.7. Det bærbare systemet ifølge et hvilket som helst av de foregående krav, hvori prosesseringsenheten (10) omfatter en PC, en arbeidsstasjon, en smarttelefon, et nettbrett eller et kontrollpanel.8. Det bærbare systemet ifølge et hvilket som helst av de foregående krav, hvori sensorenheten (5) videre omfatter en kraftkilde (9), hvori kraftkilden (9) fortrinnsvis inkluderer et batteri.9. Det bærbare systemet ifølge et hvilket som helst av de foregående krav, hvori sensorenheten (5) omfatter flere sensorer, og hvori sensorene omfatter minst én vidvinkelsensor og minst én presisjonssensor.10. Fremgangsmåte for å overvåke løfting av en last (1) til, eller fra, en flytende struktur (2) under en marin løfteoperasjon, fremgangsmåten omfatter å: tilveiebringe et bærbart system ifølge et hvilket som helst av kravene 1 - 9; feste minst én markør (4) til en flytende struktur (2);feste sensorenheten (5) til en last (1);motta et reflektert signal (6a) av sensorenheten (5); ogberegne posisjon, hastighet og/eller akselerasjonsdata for lasten (1) i forhold til den flytende strukturen (2) av prosesseringsenheten (10), basert på det reflekterte signalet (6a).11. Fremgangsmåten ifølge krav 10, videre omfattende å motta driftskriterier for løfteoperasjonen som input fra prosesseringsenheten (10), hvori driftskriteriene kan omfatte grenser for den relative posisjonen, hastigheten og/eller akselerasjonen til lasten (1) i henhold til den flytende strukturen (2), og/eller faktiske data og/eller prognoser for vær, bølger og/eller strømmer.12. Fremgangsmåten ifølge krav 11, videre omfattende å sammenligne de beregnede posisjons-, hastighets- og/eller akselerasjonsdataene med driftskriteriene og opsjonelt, sende ut en synlig og/eller en hørbar advarsel av prosesseringsenheten (10) når den beregnede posisjonen, hastigheten og/eller akselerasjonsdata nærmer seg eller overgår driftskriteriene.13. Fremgangsmåten ifølge hvilket som helst av kravene 10 - 12, videre omfattende å visualisere de beregnede posisjons-, hastighets- og/eller akselerasjonsdataene og opsjonelt, driftskriteriene og/eller sammenligningen av beregnede data med driftskriterier, på en skjerm av prosesseringsenheten (10) og/eller på en ekstern skjerm.14. Dataprogramprodukt omfattende maskinlesbare instruksjoner som, når dataprogrammet utføres av en prosesseringsenhet (10), får prosesseringsenheten (10) til å beregne posisjon, hastighet og/eller akselerasjonsdata for en last (1) i forhold til en flytende struktur (2).
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Patent classes

IPC classesB63B 27/30B66C 13/46B66C 23/52G01S 5/00CPC classesB63B 27/30B66C 13/46B66C 23/52G01S 5/00G01S 5/0072

Citations

US 4932541 A (A)WO 2018/160681 A1 (A1)WO 2013/181621 A1 (A1)WO 2015/044898 A1 (A1)

Applicants, owners and inventors

Owners
MIKO INNOVASJON AS
Gaustadalléen 21 0349 OSLO NO (OSLO Municipality, Oslo county)Org. number: 920367569Inventors
Nicolai Michelsen
Grimelundshaugen 4G 0374 OSLO NO (OSLO Municipality, Oslo county)

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AWA NORWAY AS
AWA NORWAY AS

Org. number: 925400262

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Org. number: 925400262
Reference: 176549-DAMR/HIVL

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