STORAGE TANK DELIVERY SYSTEM

Description

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Japanese Patent Application No. 2024-037370 filed on Mar. 11, 2024, incorporated herein by reference in its entirety.

BACKGROUND

1. Technical Field

The present disclosure relates to a storage tank delivery system that delivers a storage tank, in which energy is stored, at sea.

2. Description of Related Art

As a method of transferring energy at sea, a method is known in which an energy supply vessel pulls up alongside an energy supply-receiving vessel, and a manifold of each vessel is connected by a hose (e.g., see Japanese Unexamined Patent Application Publication No. 2020-37360 (JP 2020-37360 A)).

SUMMARY

In the above-described transfer method, a plurality of manifolds is provided on the energy supply vessel, with reference to a constant water level, in order to ensure stability of mooring between the two vessels. However, there are various technical problems, such as energy delivery in a situation in which waves or winds are rough not being taken into consideration.

An object of the present disclosure is to provide a storage tank delivery system that is capable of stable energy delivery, even in a state where waves or wind are rough.

A storage tank delivery system according to an aspect of the present disclosure is a storage tank delivery system for delivering a storage tank in which predetermined energy is stored, from a floating body floating at sea to an energy recovery site at sea or on land, the storage tank delivery system including a delivery mechanism including at least one vibration isolator with a function of canceling a moment generated by an external force, and a delivery control mechanism for controlling the vibration isolator of the delivery mechanism so as to acquire moment information relating to the moment generated in at least one of the floating body and the energy recovery site and to deliver the storage tank while canceling the moment.

The storage tank delivery system according to the aspect of the present disclosure includes at least one vibration isolator in the delivery mechanism that delivers the storage tank from the floating body to the energy recovery site. The vibration isolator has a function of canceling moment generated in at least one of the floating body and the energy recovery site. By controlling the vibration isolator by the delivery control mechanism, the storage tank is delivered while the moment generated in at least one of the floating body and the energy recovery site is cancelled. Thus, according to the storage tank delivery system, effects due to external force can be suppressed even when the storage tank is delivered at sea. That is to say, according to the storage tank delivery system, stable energy delivery can be carried out even in a situation in which waves and wind are rough.

BRIEF DESCRIPTION OF THE DRAWINGS

Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein:

FIG. 1 is a schematic configuration diagram showing an example of a storage tank delivery system according to the present disclosure;

FIG. 2 is a diagram illustrating an example of a coordinate system in a ship;

FIG. 3A is a schematic diagram of a storage tank delivery system according to a first embodiment;

FIG. 3B is a schematic configuration diagram of a vibration isolator.

FIG. 4 is a schematic configuration diagram of an example of a floating body;

FIG. 5 is a schematic configuration diagram of an example of a recovery vessel;

FIG. 6 is a throw chart showing an example of processing in a power generation floating body;

FIG. 7 is a throw chart illustrating an example of a process in a recovery vessel;

FIG. 8 is a flowchart illustrating an example of vibration isolator control processing;

FIG. 9 is a diagram illustrating a modification of the delivery device illustrated in FIG. 3A;

FIG. 10 is a schematic configuration diagram of a storage tank delivery system according to a second embodiment; and

FIG. 11 is a sequence diagram illustrating an example of processing performed by each of the recovery vessel and the power generation floating body in the second embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

1. Outline of Storage Tank Delivery System

First, an outline of an example of the storage tank delivery system 1 according to the present disclosure will be described with reference to FIG. 1. In the storage tank delivery system 1 according to the present disclosure, a storage tank ST in which predetermined energy is stored is passed from a floating body 100 floating on the sea to an energy recovery site 200 by a delivery mechanism 300. The type of energy stored in the storage tank ST is not limited. The energy stored in the storage tank ST may be, for example, electric energy generated in the floating body 100 using renewable energy. Alternatively, the energy stored in the storage tank ST may be, for example, energy obtained from other than the floating body 100.

The energy recovery site 200 is a location for the storage tank ST to be recovered. The energy recovery site 200 may be any location on land or at sea. The energy recovery site 200 may be, for example, a terrestrial or maritime recovery facility. The energy recovery site 200 may be, for example, a recovery vessel at sea. The recovery vessel may, for example, recover the storage tank ST from the floating body 100 at sea and transport it to a predetermined energy-demanding location. Hereinafter, the recovery vessel functioning as the energy recovery site 200 is referred to as a recovery vessel 200.

The delivery mechanism 300 is a mechanism for delivering the storage tank ST between the floating body 100 and the recovery vessel 200. The delivery mechanism 300 may include, for example, a delivery device 310 and a vibration isolator 320 provided in the delivery device 310. The delivery device 310 may be a device that extends between the floating body 100 and the recovery vessel 200 to move the storage tank ST. The shape of the delivery device 310 is not limited. The delivery device 310 may be, for example, a robotic arm type device having multiple axes (i.e., multiple joints). The delivery device 310 may be, for example, a bridge-type device having a bridge portion such as a so-called gangway. Alternatively, the delivery device 310 may be, for example, a crane-type device. The vibration isolator 320 has a function of canceling a moment generated by an external force. The external force may be any force that the floating body 100 and/or the recovery vessel 200 may receive at sea. The external force may include, for example, wave power, wind power, and the like. The moment will be described later. The delivery mechanism 300 may be controlled by the delivery control mechanism 400, for example.

The delivery control mechanism 400 may control the delivery mechanism 300 to, for example, acquire moment data related to moments occurring in at least one of the floating body 100 and the recovery vessel 200, and deliver the storage tank ST while canceling the moment. The delivery control mechanism 400 may include, for example, a delivery operation control unit 410 and a vibration isolator control mechanism 400a. The delivery operation control unit 410 may control the operation of the delivery device 310. The delivery operation control unit 410 may control, for example, a series of operations of the delivery device 310 that moves the storage tank ST between the floating body 100 and the recovery vessel 200. The vibration isolator control mechanisms 400a may control the operation of the vibration isolator 320. The vibration isolator control mechanism 400a may include, for example, a moment information unit 420 and a vibration isolation control unit 430.

In the moment information unit 420, for example, a moment generated in at least one of the floating body 100 and the recovery vessel 200 may be calculated by an external force. The moment calculated by the moment information unit 420 may include a predicted moment. The predicted moment is a moment that can occur in at least one of the floating body 100 and the recovery vessel 200. The moment information unit 420 may calculate the predicted moment based on various types of information related to the external force. The moment information unit 420 may output moment information related to the calculated moment.

Now, with reference to FIG. 2, the moment occurring in the vessel will be described. In a ship on the sea, generally, an external force causes a roll with the captain direction (Y-axis) as a rotation axis, a pitch with the ship width direction (X-axis) as a rotation axis, and a rotational moment of a bow swing with the height direction (Z-axis) as a rotation axis. The center of the coordinate system applied to the vessel may be, for example, the center of gravity of the vessel. In the present embodiment, these rotational moments are collectively referred to as moments. As the storage tank ST moves, the weight of each of the floating body 100 and the recovery vessel 200 changes. When the position of the center of gravity changes due to the weight change, the moment information unit 420 may calculate the moment in consideration of the weight change.

Returning to FIG. 1, the vibration isolation control unit 430 may output a control instruction for controlling the operation of the vibration isolator 320 based on the moment information output from the moment information unit 420. Based on the moment information, the vibration isolation control unit 430 may control the vibration isolator 320 so that the moment affecting the delivery device 310 is cancelled. For example, the vibration isolation control unit 430 may acquire moment information regarding each of the floating body 100 and the recovery vessel 200, cancel the moment generated in the floating body 100 and the moment generated in the recovery vessel 200, and output a control instruction for controlling the operation of the vibration isolator 320 so that the moment affecting the delivery device 310 is cancelled.

The delivery control mechanism 400 may be provided anywhere on the sea or on land. The delivery control mechanism 400 may be provided in the floating body 100 or the recovery vessel 200 as appropriate, for example. The delivery control mechanism 400 may be provided at an appropriate facility on the sea or on land, for example. The delivery control mechanism 400 may be distributed to, for example, the floating body 100, the recovery vessel 200, and an appropriate facility. The delivery control mechanism 400 may be configured to be implemented by, for example, cloud computing.

2. First Embodiment

An example of the storage tank delivery system 1 will be described as a first embodiment. FIG. 3A shows an exemplary of a floating body 100, a delivery mechanism 300, and a recovery vessel 200 according to a first embodiment. In the first embodiment, the delivery device 310 may be, for example, a multi-axis robotic arm type device. The delivery mechanism 300 and the delivery control mechanism 400 may be provided in the recovery vessel 200, for example. The energy stored in the storage tank ST may be, for example, electric energy generated in the floating body 100. As the power generation in the floating body 100, for example, renewable energy such as sunlight or wind power may be used. In the floating body 100 of the present embodiment, wind power generation may be performed. Hereinafter, the floating body 100 in the present embodiment is referred to as a power generation floating body 100. Further description of each of the power generation floating body 100, the recovery vessel 200, the delivery mechanism 300, and the delivery control mechanism 400 will be described later. (Configuration of Power Generation Floating Body 100)

The configuration of the power generation floating body 100 will be described with reference to FIG. 4. As an example, as shown in FIG. 4, the power generation floating body 100 may include a power generation unit 110, a navigation unit 120, a storage unit 130, a floating body communication unit 150, and a floating body control unit 160.

The power generation unit 110 may include a plurality of elements utilized for wind power generation. The power generation unit 110 may include, for example, a kite 111, a winch 113, and a generator 114 connected to the hull 101 via a tether 112. The winch 113 has a rotating shaft body 113a as a rotating shaft, and the rotating shaft body 113a is connected to a rotating shaft of the generator 114. A tether 112 is wound around the rotating shaft body 113a. As the kite 111 rises in response to the wind, the tether 112 is unwound from the winch 113 as the kite rises. The rotating shaft body 113a is rotated by the feeding-out operation of the tether 112. The rotation shaft of the generator 114 rotates in conjunction with the rotation when the kite 111 moves upward, thereby generating electric power. Further, when the rotating shaft body 113a rotates in the winding direction of the tether 112, the tether 112 is collected and the kite 111 is lowered. When the tether 112 is collected, the generator 114 may rotate the rotating shaft body 113a based on a control instruction from the floating body control unit 160. For example, the orientation of the winch 113, the opening and closing of the kite 111, and the like may be controlled based on a control instruction from the floating body control unit 160. As described above, in the power generation floating body 100, wind power generation using the kite 111 may be performed.

The navigation unit 120 may include a plurality of elements for causing the power generation floating body 100 to navigate over the sea. The power generation floating body 100 may be configured to be sail-able, for example, based on wind energy received by the sail 121. In addition to the sail 121, the navigation unit 120 may be provided with, for example, a ladder 122 for determining the direction of the hull 101 and a center board 123 for generating a lateral force. In addition to the movement by wind power, the power generation floating body 100 may include, for example, a thruster 125 and a motor 124 as a power source as the navigation unit 120 so as to be able to move by electric power. For example, electricity generated by the power generation unit 110 may be used to drive the motor 124. Further, the navigation unit 120 may include sensors necessary for navigation. The sensors may include, for example, a wind direction wind speed sensor, an acceleration sensor, an angular velocity sensor, a velocity sensor, and the like. For example, the navigation unit 120 may be controlled by control instructions from the floating body control unit 160 based on the route such that the power generation floating body 100 navigates a predetermined route.

The storage unit 130 may include a plurality of elements for storing the electric energy obtained by the power generation of the power generation unit 110 in a predetermined manner. The storage mode of the electric energy is not limited. In this embodiment, the electrical energy may be converted to, for example, a hydrogen carrier and stored. Here, the storage unit 130 may include, for example, a hydrogen-carrier generation unit 131 and at least one storage tank ST. The hydrogen carrier generation unit 131 may be configured so that the electric energy generated by the power generation unit 110 is converted into a hydrogen carrier. As the hydrogen carrier, for example, hydrogen gas may be employed. The storage tank ST may be, for example, a hydrogen storage alloy tank having a hydrogen storage alloy. Hydrogen outputted from the hydrogen carrier generation unit 131 may be occluded in a hydrogen occlusion alloy of the storage tank ST.

The hydrogen carrier obtained by the hydrogen carrier generation unit 131 is not limited to hydrogen gas. As the hydrogen carrier obtained by the hydrogen carrier generation unit 131, for example, any of liquefied hydrogen, ammonia, methylcyclohexane, and the like may be employed. The storage tank ST may have a configuration suitable for storage of the employed hydrogen carrier. Further, the storage tank ST may be a battery tank having a battery in which electricity obtained by power generation by the power generation unit 110 is charged.

The floating body communication unit 150 may be configured to wirelessly communicate with other elements. The floating body communication unit 150 may be configured so that information transmitted from other elements to the floating body control unit 160 and information (including control instructions) transmitted from the floating body control unit 160 to other elements can be wirelessly communicated. The “other element” may include, for example, a provider of various kinds of information in addition to the recovery vessel 200. The power generation floating body 100 may acquire, for example, state information of waves around its own base, wind state information around its own base, and the like from each provider via the floating body communication unit 150.

The floating body control unit 160 may be configured as a control unit including, for example, a Central Processing Unit (CPU) and a storage device and an input/output interface required for the operation of CPU. The storage device may include, for example, Read Only Memory (ROM), Random Access Memory (RAM), and data storage. The floating body control unit 160 may be connected to each of the units 110, 120, 130, and 150 by a data bus, for example, via an input/output interface. The floating body control unit 160 may output a control instruction to each of the units 110, 120, 130, and 150 to control various operations.

The storage device may hold various kinds of information necessary for each process performed by the power generation floating body 100. The storage device may hold, for example, a floating body ID for identifying the respective power generation floating bodies 100. For example, various types of information (including a control instruction) output from the power generation floating body 100 may include a floating body ID to indicate an output source. In addition, the storage device may hold, for example, a floating body shape information FSI. The floating body shape information FSI may include various kinds of information related to the power generation floating body 100 in addition to the information related to the shape of the power generation floating body 100. The floating body shape information FSI may include, for example, a delivery position of the storage tank ST. The transfer position may be a predetermined position where the storage tank ST is disposed on the power generation floating body 100 for transfer. The floating body shape information FSI may include, for example, information on the center of gravity and the weight.

ROM may store, for example, a computer program for implementing a process in the floating body control unit 160. The floating body control unit 160 may read a computer program stored in a ROM or data storage. Alternatively, the floating body control unit 160 may acquire (i.e., download) a computer program from a device (not shown) disposed outside the power generation floating body 100 via the floating body communication unit 150, and read the acquired computer program. The floating body control unit 160 executes the read computer program. As a result, a logical functional block for controlling the operation of the power generation floating body 100 is realized in the floating body control unit 160.

FIG. 4 shows a kite control unit 161 as an example of a functional block realized in the floating body control unit 160. The kite control unit 161 may control the kite 111. For example, the kite control unit 161 may control the rotation of the winch 113 in the rotation shaft 113a. By controlling the rotation, as described above, the winding of the tether 112 and the unwinding of the tether 112 are controlled. The kite control unit 161 may control opening and closing of the kite 111, for example. (Configuration of recovery vessel 200)

The configuration of the recovery vessel 200 will be described with reference to FIG. 5. The recovery vessel 200 may include, for example, a recovery vessel navigation unit 210, a recovery vessel sensor unit 220, a tank storage unit 230, a recovery vessel input/output unit 240, and a recovery vessel control unit 250. The respective elements of the respective units 210,220, 230, and 240 and the recovery vessel control unit 250 may be connected to each other via, for example, a data bus (not shown).

The recovery vessel navigation unit 210 may include a plurality of elements necessary to cause the recovery vessel 200 to navigate at sea. For example, an engine, a propulsion device, various devices required for marine vessel maneuvering, and equipment may be included. The recovery vessel sensor unit 220 may include various sensors necessary for marine navigation of the recovery vessel 200. The recovery vessel sensor unit 220 may include, for example, a wind direction/wind speed sensor, an acceleration sensor, an angular velocity sensor, a velocity sensor, and the like. The tank storage unit 230 may be configured to store at least one storage tank ST collected from the power generation floating body 100. The environment (temperature, humidity, and the like) of the tank storage unit 230 may be controlled by the recovery vessel control unit 250.

The recovery vessel input/output unit 240 may be configured to be capable of inputting and outputting various kinds of information to and from other elements. The recovery vessel input/output unit 240 may include input/output by wireless communication and input/output by wired communication. For example, the recovery vessel input/output unit 240 may be configured to communicate information input from other elements to the recovery vessel 200 and information (including control instructions) output from the recovery vessel 200 to other elements wirelessly or by wire. The “other element” may include, for example, the power generation floating body 100, the delivery device 310, and a provider of various kinds of information. The recovery vessel 200 may acquire, for example, state information of waves around the host vessel, wind state information around the host vessel, and the like from the respective providers via the recovery vessel input/output unit 240.

The recovery vessel control unit 250 may control, for example, various processes related to the recovery vessel 200 and processes related to the delivery mechanism 300. The recovery vessel control unit 250 may be configured as a control unit including a CPU, a storage device required for the operation of CPU, an input/output interface, and the like. The storage device may include, for example, ROM, RAM, data storage, and the like. The recovery vessel control unit 250 may be connected to each of the units 210, 220, 230, and 240 via a data bus, for example, via an input/output interface. The recovery vessel control unit 250 may control various operations in the respective units 210, 220, 230, and 240, for example. The storage device may hold various kinds of information necessary for each process performed by the recovery vessel control unit 250. In the storage device, for example, the recovery vessel shape information SSI may be held. The recovery vessel shape information SSI may include various kinds of information related to the recovery vessel 200 in addition to the information related to the shape of the recovery vessel 200. The recovery vessel form-information SSI may include, for example, a receiving position of the storage tank ST. The receiving position may be a predetermined position where the storage tank ST is received at the recovery vessel 200. The recovery vessel shape information SSI may include, for example, information on the center of gravity and the weight.

ROM may store, for example, a computer program for implementing a process in the recovery vessel 200. The recovery vessel control unit 250 may read the computer program stored in ROM or the data storage. Alternatively, the recovery vessel control unit 250 may acquire (i.e., download) a computer program from a device (not shown) disposed outside the recovery vessel 200 via the recovery vessel input/output unit 240, and read the acquired computer program. The recovery vessel control unit 250 executes the read computer program. As a result, a logical functional block for controlling the operation of the recovery vessel 200 is realized in the recovery vessel control unit 250.

In the present embodiment, as illustrated in FIG. 5, the delivery control mechanism 400 (that is, the delivery operation control unit 410, the moment information unit 420, and the vibration isolation control unit 430) may be realized as functional blocks realized in the recovery vessel control unit 250. That is, the recovery vessel control unit 250 may function as a vibration isolator control mechanism 400a. Details of processing performed by each of the units 410, 420, and 430 included in the delivery control mechanism 400 will be described later.

The configuration of the delivery mechanism 300 will be described with reference to FIG. 3A. The delivery device 310 of the present embodiment may be, for example, a six-axis robotic arm type device having an arm extending from the recovery vessel 200 to the power generation floating body 100. The delivery device 310 may have six joints (i.e., a first joint 311a, a second joint 311b, a third joint 311c, a fourth joint 311d, a fifth joint 311e, and a sixth joint 311f), as shown in FIG. 3A. Hereinafter, the joint 311 is referred to as a joint when there is no need to distinguish the respective joint 311a-311f. A member for lifting the storage tank ST may be provided at a distal end portion of the delivery device 310. As a method of lifting the storage tank ST, a method according to the weight, the shape, and the like of the storage tank ST may be employed. Methods of lifting the storage tank ST may include, for example, gripping, hooking, electro-magnetic, lifting, and the like. As a member provided at the distal end portion of the delivery device 310, a member corresponding to each method may be employed. In the illustrated FIG. 3A, a lifting member capable of lifting the storage tank ST is provided at a distal end portion of the delivery device 310.

A vibration isolator 320 may be provided on the rear end side of the delivery device 310, that is, on the side where the delivery device 310 is connected to the recovery vessel 200. The vibration isolator 320 may be provided with respect to the sixth joint 311f of the delivery device 310, for example. As shown in FIG. 3B, the vibration isolator 320 may be configured as a so-called active-type vibration isolator. The vibration isolator 320 may include, for example, a vibration isolator input/output unit 321, an actuator unit 322, and a vibration adjustment unit 323. For example, the vibration isolator input/output unit 321 may be provided so as to be capable of inputting and outputting information to and from the outside (for example, the vibration isolation control unit 430). The vibration isolator input/output unit 321 may be provided so as to be capable of inputting and outputting information to and from the outside wirelessly and/or by wire. The actuator unit 322 may function as, for example, an actuator that operates the vibration adjustment unit 323 based on a control instruction from the vibration isolation control unit 430. For example, the vibration adjustment unit 323 may be provided so as to be able to absorb a force (i.e., a moment) generated in the recovery vessel 200 by operating in response to the actuator unit 322. The vibration adjustment unit 323 may include, for example, a weight, an elastic body, and the like. Hereinafter, “control of the vibration isolator 320” includes “control of the actuator unit 322 of the vibration isolator 320”. (Processing Performed in Storage Tank Delivery System)

Hereinafter, a process performed in the storage tank delivery system 1 according to the first embodiment will be described. The processing performed in the power generation floating body 100 will be described with reference to FIG. 6. Each process in the power generation floating body 100 may be performed by the floating body control unit 160 as described above. The floating body control unit 160 may first determine whether or not the delivery timing of the storage tank ST has arrived (S10). The floating body control unit 160 may determine that the delivery timing has arrived, for example, by receiving an arrival notification from the recovery vessel 200 indicating that the recovery vessel 200 has arrived at the predetermined collection position. The delivery timing may be predetermined. In this case, the floating body control unit 160 may, for example, measure up to a predetermined delivery timing and determine whether or not the delivery timing has arrived.

When the delivery timing has not arrived (S10: No), the floating body control unit 160 may wait for the arrival of the delivery timing. When it is determined that the delivery timing has arrived (S10: Yes), for example, the kite control unit 161 in the floating body control unit 160 may perform a kite recovery process (S12). In the kite recovery process, a process for removing the kite 111 may be performed. In the kite recovery process, the kite control unit 161 may, for example, move the power generation floating body 100 to a predetermined position near the recovery vessel 200 and stop it. Subsequently, the kite control unit 161 may recover the kite 111 by rotating the rotating shaft body 113a of the winch 113 in a direction in which the tether 112 is wound. The kite control unit 161 may control the kite 111 and the winch 113 so that the kite 111 is closed and collected at a predetermined location. As a result, the kite control unit 161 and the winch 113 function as a kite recovery mechanism.

After the kite recovery process, the floating body control unit 160 may perform, for example, a floating body-side delivery process (S14). In the floating body side delivery process, the floating body control unit 160 may transmit, for example, a delivery start notification to the recovery vessel 200. In the floating body side delivery process, the floating body control unit 160 may rotate its own bow so that the delivery position is directed to the recovery vessel 200, for example. In the floating body-side delivery process, the floating body control unit 160 may, for example, move the storage tank ST to the delivery position. For example, the storage tank ST may be arranged at the delivery position by a robotic or crane device controllable by the floating body control unit 160. The storage tank ST located at the delivery position may wait to be lifted to the delivery device 310. In the floating body-side delivery process, the floating body control unit 160 may transmit information required for delivery of the storage tank ST, such as a floating body shape information FSI, to the recovery vessel 200.

The processing performed in the recovery vessel 200 will be described with reference to FIG. 7. Each process in the recovery vessel 200 may be performed by the recovery vessel control unit 250 as described above. The recovery vessel control unit 250 may first determine whether or not delivery of the storage tank ST is started (S20). For example, the recovery vessel control unit 250 may determine that the transfer is started by receiving the transfer start notification transmitted from the power generation floating body 100. The delivery start timing may be predetermined. In this case, the recovery vessel control unit 250 may determine whether or not delivery is started by counting up to a predetermined delivery start timing, for example.

If it is not the delivery start (S20: No), the recovery vessel control unit 250 may enter the delivery start standby status. If it is determined that delivery is started (S20: Yes), the recovery vessel control unit 250 may perform, for example, a vessel-side delivery process (S22). In the ship-side delivery process, for example, the vibration isolator 320 and the delivery device 310 may be controlled by the delivery control mechanism 400 so that the delivery of the storage tank ST is performed while the moment affecting the delivery device 310 is cancelled.

The delivery operation control unit 410 may, for example, (1) bring the lifting member at the leading end of the delivery device 310 closer to the storage tank ST waiting at the delivery position of the power generation floating body 100, (2) lift the storage tank ST, and (3) move the lifted storage tank ST to the receiving position of the recovery vessel 200. The delivery operation control unit 410 may, for example, control an actuator corresponding to each joint 311 to perform the series of operations (1) to (3) described above. For example, the delivery operation control unit 410 may determine the trajectory of the storage tank ST to be moved by the series of operations described above, and control the respective joints 311 based on the trajectory.

The delivery operation control unit 410 may determine the trajectory of the storage tank ST so that the storage tank ST does not interfere with (or collide with) the power generation floating body 100 and the recovery vessel 200. The delivery operation control unit 410 may determine the trajectory based on, for example, the shape information FSI, SSI of each of the power generation floating body 100 and the recovery vessel 200 and the moment information obtained by the moment information unit 420. As a result, it is possible to prevent the storage tank ST from interfering with the power generation floating body 100 and the recovery vessel 200 that are powered by the external force on the sea. When the storage tank ST arrives at the receiving position, it may be transported to the tank storage unit 230, for example. For example, the storage tank ST may be transported from the receiving position to the tank storage unit 230 by a robotic or crane device controllable by the recovery vessel control unit 250.

Operation control (that is, operation control of (1)-(3)) may be performed by the delivery operation control unit 410, and, for example, the vibration isolator control process may be performed by the vibration isolator control mechanism 400a. In the vibration isolator control process, the vibration isolator control mechanism 400a may control the operation of the vibration isolator 320 such that the moment affecting the delivery device 310 is cancelled. For example, the vibration isolator control mechanism 400a may perform a vibration isolator control process so that a moment affecting the delivery device 310 is cancelled in response to the operation of the delivery device 310. An example of the vibration isolator control process will be described with reference to FIG. 8. In the embodiment shown in FIG. 8, S30-S36 may be performed by the moment information unit 420 of the vibration isolator control mechanism 400a. S38 may be performed by the vibration isolation control unit 430 of the vibration isolator control mechanism 400a.

In the vibration isolator control process, first, the moment information unit 420 may acquire, for example, information regarding an external force from another institution (S30). The moment information unit 420 may be acquired from, for example, a predetermined organization that provides wave information in a predetermined range including its own position. The wave information may be information related to a condition of the wave. The wave conditions may include, for example, wave heights, wave periods, and the like. The wave information may include forecast information about the wave status. The moment information unit 420 may be acquired from, for example, a predetermined institution that provides wind condition information in a predetermined range including its own position. The wind condition information may be information about a wind condition. The wind condition may include, for example, a wind direction, a wind speed, and the like. The wind condition information may include forecast information regarding a wind condition. The moment information unit 420 may acquire the wave information and the wind condition information from, for example, various sensors of the recovery vessel sensor unit 220.

As described above, based on the movement of the storage tank ST, the weight of the storage tank ST moves from the power generation floating body 100 to the recovery vessel 200. Therefore, the moment information unit 420 may calculate the moment in consideration of the weight change. For example, the moment information unit 420 may determine whether a weight change has occurred (S32). For example, the moment information unit 420 may determine that the weight change has occurred when the storage tank ST is lifted by the delivery device 310, that is, when the storage tank ST is separated from the power generation floating body 100. For example, based on a control instruction outputted from the delivery operation control unit 410 to the delivery device 310, the moment information unit 420 may specify when the storage tank ST is lifted.

When the weight change has not occurred (S32: No), the moment information unit 420 may calculate the moment by adopting the first center of gravity as the center of gravity used for calculation of the moment, for example (S34). The first center of gravity may be, for example, the center of gravity of each of the power generation floating body 100 and the recovery vessel 200 when the storage tank ST is in the power generation floating body 100. On the other hand, when it is determined that the weight change has occurred (S32: Yes), the moment information unit 420 may calculate the moment by adopting the second center of gravity as the center of gravity used for calculating the moment, for example (S36). The second center of gravity may be, for example, the center of gravity of each of the power generation floating body 100 and the recovery vessel 200 when the storage tank ST is separated from the power generation floating body 100. Information (e.g., center of gravity and weight) relating to the power generation floating body 100 required for calculation of the moment may be specified, for example, based on the floating body shape information FSI. Information (e.g., center of gravity and weight) relating to the recovery vessel 200 required to calculate the moment may be identified, for example, based on the recovery vessel shape information SSI.

If the moment affecting the delivery device 310 is different depending on the operation of the delivery device 310, only the moment corresponding to the operation of the delivery device 310 may be calculated. For example, when only the moment generated in the recovery vessel 200 affects the delivery device 310, the moment information unit 420 may calculate only the moment generated in the recovery vessel 200 in S32 and S36. The moment information may also include a predicted moment as described above.

The moment information unit 420 may output moment information related to the calculated moment. Based on the output moment data, the vibration isolation control unit 430 may output a control instruction for controlling the vibration isolator 320 (S38). For example, the vibration isolation control unit 430 may control the vibration isolator 320 so that the moment affecting the delivery device 310 is cancelled based on the moment information. The moment information may include a predicted moment, as described above. As a result, feedforward anti-vibration measures are possible. If the moment affecting the delivery device 310 is different depending on the operation of the delivery device 310, the vibration isolation control unit 430 may control the vibration isolator 320 so that the moment corresponding to the operation of the delivery device 310 is cancelled.

When the moment generated in each of the recovery vessel 200 and the power generation floating body 100 affects the delivery device 310, the vibration isolation control unit 430 may control the vibration isolator 320, for example, to cancel the moment generated in the recovery vessel 200 and the moment generated in the power generation floating body 100, and to cancel the moment that affects the delivery device 310. On the other hand, when the moment generated in the recovery vessel 200 to which the delivery device 310 is connected affects the delivery device 310, the vibration isolation control unit 430 may control the vibration isolator 320 so that the moment generated in the recovery vessel 200 is cancelled, for example.

When lifting the storage tank ST from the transfer position, the transfer operation control unit 410 may lift the storage tank ST at a predetermined lifting timing. The lifting timing may be, for example, a timing at which the power generation floating body 100 is at a peak of a wave. For example, the delivery operation control unit 410 may obtain the period of the wave based on the wave information acquired by the moment information unit 420, and determine the timing at which the power generation floating body 100 is at the peak of the wave. When the power generation floating body 100 is above the wave, the storage tank ST on the power generation floating body 100 rises in height. Therefore, it is expected that the delivery device 310 will reduce the amount of travel of the storage tank ST with respect to the height, thereby reducing the risk of the storage tank ST interfering with the power generation floating body 100.

When the weight of the recovery vessel 200 is sufficiently large and the position of the center of gravity of the recovery vessel 200 hardly changes even if the weight change occurs due to the movement of the storage tank ST, the moment information unit 420 may calculate the moment by adopting only the first center of gravity without considering the weight change with respect to the recovery vessel 200. In the vibration isolator control process (FIG. 8), the moment information unit 420 may calculate, for example, the translational force of each axis in addition to the moment of each axis in XYZ coordinate system (FIG. 2) of the recovery vessel 200, and may also output the translational force as the moment information. In this case, the vibration isolation control unit 430 may control the actuator unit 322 of the vibration isolator 320 so that the translational force is also canceled in addition to the moment generated in the power generation floating body 100 and the recovery vessel 200. In addition, the transfer operation control unit 410 may determine the trajectory of the storage tank ST to be moved by considering the translational force in addition to the moment generated in the power generation floating body 100 and the recovery vessel 200.

The vibration isolator 320 may be further provided, for example, with respect to the first joint 311a of the delivery device 310. When a plurality of vibration isolators 320 are provided in the delivery device 310, for example, in S38 of the vibration isolator control process (FIG. 8), the vibration isolation control unit 430 may provide a control instruction to the vibration isolators 320.

In the first embodiment, the delivery device 310 may be provided in the power generation floating body 100. In this case, the delivery device 310 may extend from the power generation floating body 100 to the recovery vessel 200. The vibration isolator 320 may be provided, for example, at a connection portion between the delivery device 310 and the power generation floating body 100. In this case, the delivery control mechanism 400 may be realized by the floating body control unit 160.

By the delivery mechanism 300 in the first embodiment, the storage tank ST prior to the storage of energy (in the present embodiment, hydrogen), that is, the empty storage tank ST (hereinafter, referred to as an empty tank ST) may be transferred from the recovery vessel 200 to the power generation floating body 100. The delivery of the empty tank ST may take place, for example, after the delivery of the energy-stored storage tank ST. For the delivery of the empty tank ST, for example, a process similar to the ship-side delivery process (FIG. 7: S22) may be performed on the empty tank ST. For example, the transfer operation control unit 410 and the vibration isolator control mechanism 400a may control the operation of the delivery device 310 while the moment affecting the delivery device 310 in the vibration isolator 320 is cancelled.

The delivery operation control unit 410 may, for example, (4) bring the lifting member at the leading end of the delivery device 310 closer to the empty tank ST waiting at the delivery position of the recovery vessel 200, (5) lift the empty tank ST, and (6) move the lifted empty tank ST to the receiving position of the power generation floating body 100. For example, the delivery operation control unit 410 may control an actuator provided in each joint 311 to perform the series of operations (4) to (6) described above. For example, the delivery operation control unit 410 may determine the trajectory of the storage tank ST to be moved by the series of operations described above, and control the respective joints 311 based on the trajectory. Operation control (that is, operation control of (4)-(6)) may be performed by the delivery operation control unit 410, and the vibration isolator control process (FIG. 8) may be performed by the vibration isolator control mechanism 400a. The processing performed in the vibration isolator control processing may be the same as the processing described above. However, if no weight change has occurred (S32: No), the second center of gravity may be employed. When it is determined that a weight change has occurred (S32: No), the first center of gravity may be adopted.

In the first embodiment, the delivery device 310 may be a crane-type device, as shown in FIG. 9. Even if the delivery device 310 is a crane-type device, the same processing as that described above may be performed. Note that FIG. 9 illustrates an embodiment in which a suction member capable of electromagnetically attracting the storage tank ST is provided at a distal end portion of the delivery device 310.

3. Second Embodiment

Another example of the storage tank delivery system 1 according to the present disclosure will be described as a second embodiment. In the description of the second embodiment, portions different from those of the first embodiment are mainly described, and other portions are omitted as appropriate. Elements corresponding to elements of the first embodiment are described with the same reference numerals as those of the first embodiment.

FIG. 10 shows an example of each of the floating body 100, the delivery mechanism 300, and the recovery vessel 200 in the second embodiment. The delivery device 310 of the second embodiment may be a bridge-type device, as shown in FIG. 10. The delivery mechanism 300 and the delivery control mechanism 400 may be provided in the recovery vessel 200, for example.

The delivery device 310 may include, for example, a gangway portion 310a extending from the recovery vessel 200 to the power generation floating body 100. The delivery device 310 may be connected to the recovery vessel 200, for example, at a rear end side of the gangway portion 310a, that is, at a rear end side of the delivery device 310. The gangway portion 310a may be configured to be stretchable, for example. The gangway portion 310a may be configured such that the storage tank ST is movable. Conventional moving methods may be employed as a moving method of the gangway portion 310a for moving the storage tank ST, for example, moving by a cargo car that moves with the storage tank ST mounted thereon and moving along rails provided on the gangway portion 310a. Movement of the storage tank ST in the gangway portion 310a may be controlled by the delivery operation control unit 410, for example.

In the delivery mechanism 300 according to the second embodiment, the delivery device 310 may be provided with two vibration isolator 320A, 320B. As shown in FIG. 10, the vibration isolator 320A and the vibration isolator 320B may function as an abutment of the gangway portion 310a installed between the power generation floating body 100 and the recovery vessel 200. The vibration isolator 320A may be provided, for example, at a distal end portion of the delivery device 310 extending from the recovery vessel 200 to the power generation floating body 100 so as to be disposed in the A position 100p of the power generation floating body 100. The vibration isolator 320B may be provided, for example, at a rear end portion of the delivery device 310 extending from the recovery vessel 200 to the power generation floating body 100 so as to be disposed in the B position 200p of the recovery vessel 200. Hereinafter, the vibration isolator 320A and the vibration isolator 320B are referred to as a vibration isolator 320 when there is no need to distinguish them.

The processing performed in the storage tank delivery system 1 of the second embodiment will be described with reference to FIG. 11. The processing in the recovery vessel 200 may be performed by the recovery vessel control unit 250. The processing in the power generation floating body 100 may be performed by the floating body control unit 160.

First, the recovery vessel control unit 250 may determine whether or not it is a delivery starting timing (S40). The delivery starting timing may be a predetermined timing for receiving the storage tank ST from the power generation floating body 100. For example, when the recovery vessel 200 arrives at a predetermined location, the recovery vessel control unit 250 may determine that the timing is the delivery start timing. If it is not the delivery start timing (S40: No), the recovery vessel control unit 250 may enter the delivery start timing waiting status. When it is determined to be the delivery start timing (S40: Yes), the recovery vessel control unit 250 may transmit, for example, a delivery start notification to the power generation floating body 100.

Upon receiving the delivery start notification, the floating body control unit 160 may perform, for example, a delivery preparation process (S50). In the delivery preparation process, the floating body control unit 160 may perform, for example, a kite recovery process. The kite recovery process in the second embodiment may be the same as the kite recovery process in the first embodiment (FIG. 6: S12). In the delivery preparation process, the floating body control unit 160 may rotate its own base forward so that the position A 100p faces the recovery vessel 200, for example. The floating body control unit 160 may transmit the floating body shape information FSI to the recovery vessel 200, for example. Upon completion of the delivery preparation process, the floating body control unit 160 may transmit a preparation completion notification to the recovery vessel 200.

Upon receiving the preparation completion notification, the recovery vessel control unit 250 may perform, for example, a delivery device installation process (S42). In the delivery device installation process, for example, the delivery operation control unit 410 of the recovery vessel control unit 250 may control the operation of the delivery device 310. For example, the delivery operation control unit 410 may control the delivery device 310 so that the gangway portion 310a of the delivery device 310 extends to the power generation floating body 100 and the leading end portion of the delivery device 310 reaches the A position 100p of the power generation floating body 100. When the distal end portion of the delivery device 310 reaches the A position 100p, for example, the vibration isolator 320A of the distal end portion may be connected to the power generation floating body 100. The delivery operation control unit 410 may determine the trajectory of the leading end portion of the delivery device 310 so that the delivery device 310 does not interfere with the power generation floating body 100, for example, based on the shape information FSI, SSI of each of the power generation floating body 100 and the recovery vessel 200 and the moment information obtained by the moment information unit 420. When the installation of the delivery device 310 in the power generation floating body 100 is completed, for example, the delivery operation control unit 410 may transmit an installation completion notification to the power generation floating body 100.

Upon receiving the installation completion notification, the floating body control unit 160 may perform, for example, a tank placement process (S52). In the tank arrangement process, the floating body control unit 160 may, for example, arrange the storage tank ST at a predetermined position in the gangway portion 310a. For example, the storage tank ST may be disposed at a predetermined position by a robotic or crane device controllable by the floating body control unit 160. For example, when the storage tank ST is moved by being carried by the cargo car, the floating body control unit 160 may put the storage tank ST on the cargo car arranged at a predetermined position on the gangway portion 310a. Deployment of the cargo car may be performed by the delivery operation control unit 410, for example. When the arrangement of the storage tank ST is completed, the floating body control unit 160 may transmit the arrangement completion notification to the recovery vessel 200, for example.

Upon receiving the arrangement completion notification, the delivery operation control unit 410 of the recovery vessel control unit 250 may perform, for example, a tank-moving process (S44). In the tank moving process, the storage tank ST is moved along the gangway portion 310a to the recovery vessel 200 according to the adopted moving methods. The tank moving process may be performed by the delivery operation control unit 410, for example. When the storage tank ST arrives at the rear end portion of the gangway portion 310a, it may be carried to the tank storage unit 230, for example. For example, the storage tank ST may be carried to the tank storage unit 230 by a robotic or crane device controllable by the recovery vessel control unit 250.

When the storage tank ST is separated from the delivery device 310, for example, the delivery operation control unit 410 may perform a delivery device withdrawal process (S46). In the delivery device withdrawal process, for example, the delivery operation control unit 410 may control the delivery device 310 such that the delivery device 310 is collected by the recovery vessel 200 while separating the leading end portion of the delivery device 310 from the A position 100p of the power generation floating body 100. The delivery operation control unit 410 may determine the trajectory of the leading end portion of the delivery device 310 so that the delivery device 310 does not interfere with the power generation floating body 100 as in the case where the delivery device 310 is installed.

In the delivery device installation processing and the delivery device withdrawal processing, the operation of the delivery device 310 may be controlled by the delivery operation control unit 410, and the vibration isolator control mechanism 400a may perform, for example, the vibration isolator control processing (FIG. 8). In the vibration isolator control process (FIG. 8), S32-S38 may be performed for the vibration isolator 320A, 320B. In the second embodiment, for example, when the storage tank ST moves to the center of the gangway portion 310a, it may be separated from the power generation floating body 100. In this instance, in S32, the moment information unit 420 may determine that the weight change does not occur, for example, until the storage tank ST moves to the center of the gangway portion 310a. In addition, the moment information unit 420 may determine that a change in weight has occurred when the storage tank ST passes through the center.

For each of the vibration isolators 320, for example, the following processing may be performed. When the weight change does not occur (S32: No), the first center of gravity of the power generation floating body 100 and the first center of gravity of the recovery vessel 200 may be adopted, respectively, and the moment generated in the power generation floating body 100 and the moment generated in the recovery vessel 200 may be calculated (S34). In addition, when it is determined that a weight change has occurred (S32: Yes), the second center of gravity of the power generation floating body 100 and the second center of gravity of the recovery vessel 200 may be adopted, and the moment generated in the power generation floating body 100 and the moment generated in the recovery vessel 200 may be calculated (S36).

Subsequently, the vibration isolation control unit 430 may control the vibration isolators 320 based on the moment information so that the moment affecting the delivery device 310 is cancelled (S38). For example, the vibration isolation control unit 430 may control the vibration isolator 320 so that the moment that affects the delivery device 310 is cancelled by offsetting the moment generated in the power generation floating body 100 and the moment generated in the recovery vessel 200.

In the second embodiment, the delivery device 310 may be provided in the power generation floating body 100. In this case, the delivery device 310 may extend from the power generation floating body 100 to the recovery vessel 200. Here, the vibration isolator 320A may be provided on the rear end side of the delivery device 310, and the vibration isolator 320B may be provided on the front end side of the delivery device 310. The processing for controlling each of the vibration isolators 320 may be the same as the processing described above.

ADDITIONAL REMARKS

With regard to the embodiments described above, the following additional notes are further disclosed.

Appendix 1

The storage tank delivery system described in Appendix 1 includes a delivery mechanism including at least one vibration isolator having a function of canceling a moment generated by an external force, and a delivery control mechanism for controlling the vibration isolator of the delivery mechanism so that the storage tank is delivered while canceling the moment by acquiring moment information regarding the moment generated in at least one of the floating body and the energy recovery site.

According to the storage tank delivery system described in Appendix 1, at least one vibration isolator is provided in the delivery mechanism that transfers the storage tank from the floating body to the energy recovery station. The vibration isolator has a function of canceling a moment generated in at least one of the floating body and the energy recovery site. By controlling the vibration isolator by the delivery control mechanism, the storage tank is delivered in a state in which the moment generated in at least one of the floating body and the energy recovery station is cancelled. The external force may include, for example, wind power or wave power. Therefore, according to the storage tank delivery system described in Appendix 1, it is possible to suppress the influence of the external force even in the delivery of the storage tank at sea. That is, according to the system, it is possible to stably deliver energy even in a state where waves or winds are rough.

Appendix 2

The storage tank delivery system described in Appendix 2 is the storage tank delivery system described in Appendix 1, wherein the floating body is a non-moored power generation floating body to which a kite used for power generation is attached, and has a kite recovery mechanism that causes the kite to be delivered when the storage tank is delivered.

According to the storage tank delivery system described in Appendix 2, stable energy delivery is also possible for the delivery of the storage tank of electric energy obtained by the power generation performed by using the kite at sea. Since the kite is collected at the time of delivery of the storage tank, the existence of the kite does not need to be considered when the delivery is performed by the delivery mechanism.

Appendix 3

The storage tank delivery system described in Appendix 3 is the storage tank delivery system described in Appendix 1 or 2, wherein the energy recovery site is a recovery vessel, and the delivery control mechanism acquires the moment information for each of the floating body and the recovery vessel to control the vibration isolator so that the moment is cancelled.

According to the storage tank delivery system described in Appendix 3, the moments of both the floating body and the recovery vessel can be delivered, for example, offset. Therefore, even when both the delivery side and the receiving side are on the sea, stable energy delivery is possible.

Appendix 4

The storage tank delivery system described in Appendix 4 is the storage tank delivery system according to any one of Appendices 1 to 3, wherein the delivery control mechanism cancels the moment in consideration of a change in weight of the storage tank caused by delivery between the floating body and the energy recovery site.

According to the storage tank delivery system described in Appendix 4, even when the weight change of the floating body and the recovery place is remarkable due to the movement of the storage tank, stable energy delivery is possible.

Appendix 5

The storage tank delivery system described in Appendix 5 is the storage tank delivery system according to any one of Appendices 1 to 4, wherein the delivery mechanism includes a robot arm having a plurality of joints, and the vibration isolator is provided in at least one of the plurality of joints.

According to the storage tank delivery system described in Appendix 5, even when the storage tank is delivered by a robot arm having a plurality of joints, stable energy delivery is possible.

The present disclosure can be modified as appropriate within the scope and spirit of the disclosure that can be read from the claims and the specification as a whole, and a storage tank delivery system accompanied by such a modification is also included in the technical idea of the present disclosure.