A wave-induced motion compensation crane and corresponding vessel and method are disclosed. The crane includes a motion compensation device at a tip end portion of the boom structure to compensate for X-Y wave-induced motion and a heave compensation device for Z-motion. The motion compensation device includes a moveable jib beam that extends in a substantially horizontal direction. The jib beam is slewable about a substantially vertical slew axis and translatable in a longitudinal direction of the jib beam. Preferably, the jib beam can be levelled based on the angular orientation of the boom structure.

A wave-induced motion compensation crane and corresponding vessel and method are disclosed. The crane includes a motion compensation device at a tip end portion of the boom structure to compensate for X-Y wave-induced motion and a heave compensation device for Z-motion. The motion compensation device includes a moveable jib beam that extends in a substantially horizontal direction. The jib beam is slewable about a substantially vertical slew axis and translatable in a longitudinal direction of the jib beam. Preferably, the jib beam can be levelled based on the angular orientation of the boom structure.

A method can include receiving information associated with a conveyance of equipment in a borehole via a cable. The method may further include determining cable tension values based at least in part on a model and at least a portion of the information and conveying the equipment in the borehole via the cable; acquiring a cable tension value via one or more sensors. The method may further include comparing the acquired cable tension value to at least one of the determined cable tension values and, based at least in part on the comparing, setting a cable tension limit for further conveying of the equipment in the borehole via the cable.

This disclosure relates to an endless cable winch including a drive unit having an engine configured to generate a torque. The endless cable winch further including an output unit connected to the drive unit, the output unit including a power transmission assembly coupled to the drive unit, the power transmission assembly configured to apply a driving force to a cable. The endless cable winch further including a lifting force limiting device configured to stop the drive unit as soon a predetermined driving force is exceeded. In doing so, this system is also transferable to winches with multiple engines. The engine and the output unit can be movable relative to one another, and the lifting force limiting device can be configured to stop the drive unit based on the relative movement of the drive unit and the engine.

This disclosure relates to an endless cable winch including a drive unit having an engine configured to generate a torque. The endless cable winch further including an output unit connected to the drive unit, the output unit including a power transmission assembly coupled to the drive unit, the power transmission assembly configured to apply a driving force to a cable. The endless cable winch further including a lifting force limiting device configured to stop the drive unit as soon a predetermined driving force is exceeded. In doing so, this system is also transferable to winches with multiple engines. The engine and the output unit can be movable relative to one another, and the lifting force limiting device can be configured to stop the drive unit based on the relative movement of the drive unit and the engine.

A fairlead for use with a winch is disclosed. The fairlead is made up of a first and second roller, a motor, a sensor, and a controller. The rollers are adapted to aid in spooling or unspooling a line. The motor drives at least the first roller. The sensor determines whether a winch drum is spooling or unspooling a line. The controller is connected to the motor and communicates with the sensor. The sensor determines whether the winch drum is spooling or unspooling the line. The controller is configured to direct the motor so that the rollers assist in unspooling or spooling the line in coordination with the winch drum. In some embodiments, the fairlead is integrated into the winch.

A drum is rotatably mounted on a carriage. A cable is configured to: transport power, connect with a drum connector disposed on the drum, and connect with an unmanned aerial vehicle (UAV) via a UAV connector. A drum actuator is configured to rotate the drum. A UAV feed is configured to align the cable as it exits the device towards the UAV. A tension sensor is configured to measure a tension of the cable. A controller receive as tension measurement from the tension sensor; and controls the drum actuator to maintain a determined tension on the cable while: dispensing the cable; holding the cable steady; or collecting the cable.

A control device that controls an electric hoisting machine includes: a tension sensor that detects tension of a pulling member; a mode input unit that inputs a mode switch signal to switch between a winding mode and an unwinding mode; and a control unit that controls the operation of a electric motor. The control unit, when set in the unwinding mode, controls the electric motor in accordance with a detection signal from the tension sensor to cause the rotating body to be inversely rotated when the tension of the pulling member is not less than a predetermined threshold value, and to prevent the rotating body from being inversely rotated when the tension of the pulling member is lower than the predetermined threshold value.

The invention relates to a tug controller and a tug for maneuvering a towed vessel, comprising a dynamic positioning system, and a tow equipment comprising a towline connected to the towed vessel, wherein the tow equipment is automatically controlled by the dynamic positioning system based on a plurality of input parameters.

The invention relates to a tug controller and a tug for maneuvering a towed vessel, comprising a dynamic positioning system, and a tow equipment comprising a towline connected to the towed vessel, wherein the tow equipment is automatically controlled by the dynamic positioning system based on a plurality of input parameters.