VESSEL AND CRANE WITH FULL DYNAMIC COMPENSATION FOR VESSEL AND WAVE MOTIONS AND A CONTROL METHOD THEREOF

摘要

A vessel (10) includes a crane (12) for positioning diver transfer equipment (36) and/or diver equipment (38) overboard the vessel (10) into a body of water (2). The crane (12) includes: a crane base (24) connected to the vessel (10); a crane arm (14) with a suspension point (16) that is movably connected to the crane base (24); and control elements (26) for controlling the crane arm (14) configuration. The control elements (26) are configured for: determining a change in position and/or orientation of the crane (12) resulting from vessel motion, and dynamically adjusting the crane arm configuration to change the position of the suspension point (16) with respect to the crane base (24) so as to at least partially compensate for the change in position and/or orientation of the crane (12).