CN101918269A

CN101918269A - Automated docking and mooring system

Info

Publication number: CN101918269A
Application number: CN2008801224394A
Authority: CN
Inventors: P·J·蒙哥马利
Original assignee: MOORING SYSTEMS Ltd
Current assignee: MOORING SYSTEMS Ltd; Cavotec MSL Holdings Ltd
Priority date: 2007-10-24
Filing date: 2008-10-24
Publication date: 2010-12-15
Also published as: KR20100072361A; AU2008317580B2; WO2009054739A9; MY157340A; AU2008317580A1; EP2203346A4; WO2009054739A1; EP2203346A1; CA2703658A1; BRPI0818858A2; JP5291113B2; JP2011502067A; CA2703658C

Abstract

A mooring system for receiving and exercising at least partial control over the approach of a vessel approaching a mooring facility. An array of mooring robots are mounted to the mooring facility. Each robot has at least one vessel contact member supported by a moving mechanism in a manner to thereby be (i) movable relative to the mooring facility and (ii) presentable to engage the side of said vessel. A sensor can sense the position of the vessel relative the mooring facility. A processor can calculate movement instructions based on information received by the processor to calculate instructions for the movement of the contact member during the receipt of the vessel by the mooring system. A controller can preposition the contact member and then control the condition of each mooring robot such as to reduce the approach speed of the vessel at least in a direction towards the mooring facility.

Description

Automated docking and mooring system

Technical field

The present invention relates to a kind ofly be used to receive and the mooring system of mooring ship and a kind of method of mooring ship.

Background technology

Every day, in the whole world, ship and similar boat docking and mooring are in the harbour.When boat docking was arrived terminal (terminal), this generally included by low speed and guides boats and ships into this terminal.Yet even under described low velocity, the big quality of ship has also produced very big inertia.This may cause terminal or ship or both destruction.For this reason, use buffer element (being commonly called the fender thing) to provide the interface of elastic shock attenuation to be used to absorb the energy of sailing the boats and ships that come.

The example of fender thing comprises large-scale tire, rubber block, timber coating etc.Usually, in case boats and ships when mooring is on terminal, then boats and ships abut against on the fender thing to prevent that it from moving under the application force of wind, morning and evening tides or billow.

It is well-known on terminal that the mooring machinery hand is used for ship mooring.The PCT open source literature WO 2002/090176 that name is called " mooring machinery hand " discloses a kind of mooring machinery hand, and described manipulator comprises and is used for the vacuum cup that engages with the freeboard of boats and ships, adds the document by reference at this.The mooring machinery hand can be positioned at vacuum cup in the 3 dimension operation enveloping spaces.The arm connecting rod is set is used for stretching in a lateral direction and withdrawing described vacuum cup.Use such mooring machinery hand, boats and ships can be fixed on the terminal and and come the application force of negative function on boats and ships by described mooring machinery hand.Yet in order to make described mooring machinery vacuum cup on hand along its engage sides and keep boats and ships, boats and ships must be positioned at metastable position, and must be brought in the moving range of vacuum cup.

If boats and ships are shifted to terminal soon, if perhaps it is owing to aforesaid applied external force is waved, then this makes that boats and ships are difficult to engage with vacuum cup.

When navigation channel and harbour become more crowded, can provider can be useful with the automation docking of ship and other boats and ships, so that make that the docking process is more efficient and allow to shorten the mooring required time of ship, for example, thereby improved the Occupation coefficient of terminal.

In addition, because commercial ship increased, the size of commercial ship has also increased.A kind of influence of this situation is, becoming at ship described in the docking process more is difficult to control, because described ship and treat that the relation between the terminal of docking is always directly not conspicuous concerning captain or navigator.In addition, blow weather and tidal regime may make the docking of large commercial the ship very difficult and possible danger close that becomes.

The purpose of this invention is to provide a kind of mooring system and/or make the method for boat docking, it overcomes or has improved some above-mentioned shortcomings at least, and perhaps it is at least masses a kind of useful selection is provided.

In this manual, related to the data of external source, comprised patent specification and other files, this is normally for being used to discuss the purpose that feature of the present invention provides background.Except as otherwise noted, not so not being allowed to be inferred as described data source in data source described in any authority is prior art or the approval that forms the part of common practise.

Summary of the invention

A first aspect of the present invention is a kind of mooring system, it is applicable to by at least one mooring facilities that the mooring machinery hand is installed will sail next ship mooring to end, that this mooring machinery hand comprises is activatable, with the engaging gear that engages with boats and ships be used for the travel mechanism that moves this engaging gear with respect to described mooring facilities, described mooring system comprises:

Position detecting system, its be applicable to detect vessel's position and produce corresponding to the position signal of the position of ship that is detected and

The mobile computing instruction, it is used for instruction processorunit and uses the position signal that is produced to calculate expression at least one mooring machinery hand required mobile index, so that in beginning the inertia of boats and ships is produced under the situation of marked change the engaging gear of described at least one mooring machinery hand is engaged with these boats and ships.

Preferably, this mobile computing instruction also is used to calculate the required mobile index of at least one mooring machinery hand of expression, so that stop these boats and ships that move at boats and ships under the situation of not slowing down suddenly on the moving direction of mooring facilities at least.

Preferably, this has reached the destructiveness collision that prevents boats and ships and terminal.

Preferably, this mooring system comprises the mobile command instruction, and it is disposed for command and control system and comes to control moving of described at least one mooring machinery hand according to the one or more indexs that calculated.

Preferably, this mobile command instruction is configured at least one mooring machinery hand of commander and stretches this engaging gear away from this mooring facilities and towards these boats and ships of sailing, and then with the speed of the speed of sailing the boats and ships that come less than this this engaging gear of on this direction, withdrawing, so that make these boats and ships begin to contact with this mooring machinery hand by the mode of not destroying these boats and ships and/or mooring machinery hand.

Preferably, this mobile command instruction is configured for a plurality of mooring machinery hands of this mooring system of commander, and these a plurality of mooring machinery hands are arranged by one and are set at described mooring facilities place.

Preferably, the instruction of this mobile command is configured for a plurality of mooring machinery hands of commander, being that the kinetic energy that the boats and ships that come are sailed in absorption provides best arrangement architecture by the mode of not destroying these boats and ships and/or mooring machinery hand.

Preferably, this best arrangement architecture comprises the engaging gear that each mooring machinery hand is set like this, makes them all engage with these boats and ships simultaneously.

Preferably, this best arrangement architecture comprises the engaging gear that each mooring machinery hand is set like this, makes them all side by side and preferably sequentially not engage with these boats and ships.

Preferably, press linear rank with respect to this mooring machinery hand of this mooring terminal positioning, and arrangement architecture that should the best comprises this engaging gear is set in such a way, not make that all the whiles do not engage with these boats and ships this engaging gear with this arrangement during abreast near this arrangements when the boats and ships with hatch door or starboard side at hatch door or starboard side.

Preferably, the instruction of this mobile command be configured for that at least one mooring machinery hand of commander comes to engage with these boats and ships and with this boats and ships mutual action to reduce its kinetic energy.

Preferably, the instruction of this mobile command be configured for that at least one mooring machinery hand of commander comes to engage with these boats and ships and with its mutual action with its kinetic energy of decaying by best mode.

Preferably, this travel mechanism comprises at least one hydraulic actuating cylinder, and reduces to sail the kinetic energy of the boats and ships that come by the flowing of fluid by this hydraulic actuating cylinder.

Preferably, this mooring system comprises that the commander according to this mobile command instruction controls the control system that moves of this travel mechanism.

Preferably, this mooring system comprises the treater that is used to carry out calculating.

Preferably, this mooring system comprises that at least one is used to store mobile computing instruction or mobile command instruction or both memory storages.

Preferably, this mooring system comprises and is used to the transceiver that receives and transmit.

Preferably, this position detecting system comprises at least one global positioning system (GPS).

Preferably, this GPS can determine the position of the part of boats and ships or boats and ships with respect to the engaging gear of each mooring machinery hand.

Preferably, this position detecting system comprises at least one local distance checking system and/or local positioning system.

Preferably, this local distance checking system comprises with respect to a fixing rang sensor in this mooring machinery hand and the mooring facilities.

Preferably, this rang sensor can be determined the position of the part of boats and ships or boats and ships with respect to the engaging gear of each mooring machinery hand.

Preferably, this mooring system comprises at least one mooring machinery hand.

Preferably, this mooring system comprises a plurality of mooring machinery hands.

Preferably, this control system is controlled each in these a plurality of mooring machinery hands, and these a plurality of mooring machinery hands are controlled independently of each other.

Preferably, this control system is controlled each in these a plurality of mooring machinery hands, and these a plurality of mooring machinery hands are controlled independently of each other, but work synergistically each other.

That preferably, selects from the instruction of this mobile computing and this mobile command instruction one or morely is configured to receive the information relevant with the feature of the boats and ships for the treatment of mooring.

Preferably, this feature is to be selected from one or more in any other features of light mass, loaded weight, length and these boats and ships.

Preferably, this mooring system is configured to receive the information about the feature of these boats and ships from the automatic recognition system of boats and ships.

Preferably, the one or more use locations signal that is selected from this mobile computing instruction and the instruction of this mobile command commands treater calculating expression to be selected from following one or more index:

These boats and ships are with respect to the speed of this terminal,

The acceleration/accel of these boats and ships or deceleration/decel,

The kinetic energy of these boats and ships, and

The inertia of these boats and ships.

Preferably; this mooring system comprises at least one urgent buffer element; this urgent buffer element be applicable to that the kinetic energy that is absorbed on the direction of this mooring facilities surpasses that this mooring machinery hand can absorb kinetic energy this sail the energy of boats and ships, thereby provide extra protection for these boats and ships, mooring facilities and/or mooring machinery hand.

Preferably, it is movable that this urgent buffer element can not contact between the non-expanded position of these boats and ships and the expanded position that this buffer element can contact these boats and ships at it, no matter whether this engaging gear also can engage these boats and ships.

Preferably, this urgent buffer element is maintained in this non-expanded position usually, and automatically moves to its expanded position greater than by the absorbent kinetic energy of this one or more mooring machinery hands institute the time at the kinetic energy that detects these boats and ships by one or more position transdusers and/or this one or more mooring machinery hands.

One or more urgent buffer elements were worked automatically when preferably, in being selected from the kinetic energy of sailing the boats and ships that come, close speed and inertia surpassed predetermined threshold.

Preferably, when the kinetic energy that is selected from the boats and ships of sailing, one or more urgent buffer elements are worked automatically during near one in speed and inertia predetermined threshold that surpasses for these boats and ships.

Preferably, urgent buffer element comes work by means of known energy absorber systems such as for example air bags, so that urgent buffer element can promptly move to its expanded position.

Preferably, this mooring system comprises a plurality of urgent buffer elements.

Preferably; when the energy absorption capacity of one or more mooring machinery hands when one or more in the kinetic energy of sailing boats and ships that is calculated on the direction of this mooring facilities and the inertia surpass when concerted action at least; the instruction of this mobile command is configured for and absorbs as much as possible this under the situation that the one or more mooring machinery hands of commander had not been destroyed sail the energy of boats and ships before being withdrawn into protected position, and this mooring machinery hand comes the protected destruction of avoiding these boats and ships by this buffer element in this protected position.

Preferably, this mooring system is configurable between state of activation and dead status, in this state of activation, the position detecting system of this system is that exercisable the detection near the vessel's position that moves and in response to this vessel's position that is detected controlled this one or more mooring machinery hands, in this dead status, this position detecting system can not be operated.

Preferably, in case when this control system can be configured to the docking of these boats and ships then activate this engaging gear to engage with these boats and ships and these boats and ships are fixed on the terminal by these one or more mooring machinery hands.

Preferably, in case this control system can be configured to during these boats and ships begin docking these boats and ships and stops to activate this engaging gear by these one or more mooring machinery hands when mobile and engage with these boats and ships and these boats and ships are fixed on the terminal, and these boats and ships are moved in the desired location with respect to terminal.

Preferably, this control system can be configured to activate this engaging gear by these one or more mooring machinery hands during these boats and ships begin docking and engages with these boats and ships and these boats and ships are fixed on the terminal, is carrying out some controls towards the speed to these boats and ships on the direction of this mooring facilities and on perpendicular horizontal direction then.

Preferably, in case this control system can be configured to during these boats and ships begin docking these boats and ships and stops to activate this engaging gear by these one or more mooring machinery hands when mobile and engage with these boats and ships and these boats and ships are fixed on the terminal, and these boats and ships are moved to preset distance place with respect to terminal.

Preferably, this mooring system is used from the information of automatic recognition system (AIS) reception of single bottom oceangoing ship and is sailed the boats and ships that come and determine the relevant information relevant with these boats and ships to discern this, for example, and weight, size etc.

Preferably, this mooring system is used from the information of automatic recognition system (AIS) reception of single bottom oceangoing ship and is sailed the boats and ships that come and determine the relevant information relevant with these boats and ships to discern this, for example, weight, size etc., use for being selected from following one or more situations:

Calculate the required mobile index of this mooring machinery hand of expression, this engaging gear is engaged with these boats and ships so that the inertia of boats and ships is produced under the situation of marked change in beginning;

Calculate the required mobile index of this mooring machinery hand of expression, so that further stop the boats and ships to move under the situation that does not suffer to slow down suddenly at boats and ships; And

This mooring system is activated to its state of activation.

Preferably, these one or more mooring machinery hands are movably along the terminal setting.

Preferably, these one or more mooring machinery hands are installed on the wheel.

Preferably, these one or more mooring machinery hands are installed in orbit.

Preferably, these one or more mooring machinery hands comprise the independent driving mechanism that is used for moving along terminal this mooring machinery hand.

Preferably, these one or more mooring machinery hands are remote-controlled to move along this terminal.

Preferably, this mooring machinery hand can move by independent drive mechanism.

Preferably, in case boats and ships have been engaged by the engaging gear of mooring machinery hand and fixing, then this mooring machinery hand is removable.

Preferably, the mooring facilities of terminal is a harbour.

Preferably, the arrangement of mooring machinery hand is a linear rank.

Preferably, the engaging gear of this mooring machinery hand comprises the sucker that is communicated with the vacuum source fluid, and this vacuum source allows this sucker to be attached on the hull of these boats and ships by suction.

Preferably, this engaging gear comprises be used for preventing that this sucker is by this boats and ships worn-down guard block when this engaging gear during these boats and ships begin docking engages with these boats and ships.

Preferably, this guard block can be movable between protective position and retracted position, and in this protective position, the protection sucker is not is not worn and torn by boats and ships, and in this retracted position, this sucker can engage with these boats and ships and be fixing.

Preferably, this travel mechanism comprises at least one movably arm connecting rod, and this arm connecting rod is positioned at the centre of the base that is installed to this mooring machinery hand on this mooring facilities and this engaging gear.

Preferably, this travel mechanism allows controlled move of this fixed mechanism with respect to this mooring facilities.

Another aspect of the present invention is that the mooring facilities that utilizes at least one that the mooring machinery hand is installed comes the method for mooring ship, this mooring machinery hand comprise be used for near the engaging gear of the engage sides of the boats and ships of mooring facilities and the travel mechanism that is used for moving this engaging gear, described method comprises step;

Measure the position of boats and ships via position detecting system with respect to terminal;

Calculate with this mooring machinery hand is required and move relevant desired value, this engaging gear is engaged with these boats and ships so that do not make in beginning under the situation of inertia generation marked change of these boats and ships; And

Control moving of this mooring machinery hand according to moving of being calculated.

Preferably, this method comprises the step of calculating the required mobile index of this mooring machinery hand of expression, these boats and ships are towards the moving of this mooring facilities so that slow down, and preferably under the situation of not slowing down suddenly, thereby the destructiveness that prevents these boats and ships and this mooring facilities is collided.

Preferably, this method comprises the step that these boats and ships is stopped with under the situation of not slowing down suddenly that moves of commanding controller to control the mooring machinery hand according to the index that is calculated.

Preferably, this method comprises that activating this position detecting system makes its step near sensitivity to boats and ships.

Preferably, automatically carry out the step that activates this position detecting system by the automatic recognition system (AIS) of these boats and ships.

Preferably, this method comprises and calculates expression this sails boats and ships of coming at least in the index of the kinetic energy on the direction of this mooring facilities effect.

Preferably, this method comprises that the urgent buffer element of configuration responds the expression that is calculated and sails the index of the kinetic energy of boats and ships to surpass the step of a certain limit, thereby protects one or more in these boats and ships, this mooring facilities and this mooring machinery hand.

Preferably, this method comprises sails towards this that boats and ships that come stretch at least a portion of engaging gear and the step of the part of being stretched out by the slower speed withdrawal of the speed of sailing the boats and ships that come than this then, thereby is not impelling this to sail boats and ships that come and the partial engagement that is stretched out under the situation that this mooring machinery hand and/or this boats and ships is not produced impact damage.

Preferably, this method comprises and activates this engaging gear to engage with these boats and ships and these boats and ships are fixed to step on the terminal.

Preferably, this method comprises that the boats and ships that will be engaged and fix move to the step with respect to the desired location of terminal.

Preferably, this method comprises by moving this travel mechanism the boats and ships that are engaged and fix is moved to step with respect to the desired location of terminal.

Preferably, this method comprises that green phase moves the mooring machinery hand for terminal the boats and ships that are engaged and fix are moved to step with respect to the desired location of terminal.

A kind of method that is applicable to the mooring system that receives boats and ships that provides is provided another aspect of the present invention, these boats and ships are near mooring facilities, this mooring facilities comprises a plurality of mooring machinery hands that are installed on the mooring facilities, described mooring machinery hand comprises and is used for the engaging gear of the engage sides of boats and ships and is used for the travel mechanism that moves this engaging gear with respect to this mooring facilities, described mooring machinery hand forms the part of system, and this system comprises:

Position detecting system, it is applicable to and detects these boats and ships with respect to each position and/or the part in each and/or this engaging gear in this mooring facilities and/or this mooring machinery hand, and

Treater, it is used to calculate required the moving of engaging gear of each mooring machinery hand, and

Controller, the information that its response receives from treater is controlled moving of mooring machinery hand,

Said method comprising the steps of,

Mobile computing instruction is provided, calculates required the moving of each mooring machinery hand, so that engaging gear is engaged mooring machinery hand and/or boats and ships not being produced under the situation about destroying with boats and ships to be used for the position signal that the instruction processorunit utilization produced; And

Configuration-direct, the position signal that is produced with the utilization of commander's treater calculates required the moving of mooring machinery hand, so that by avoiding the mode to mooring machinery hand and/or boats and ships generation destruction that engaging gear is engaged with boats and ships.

Preferably, this method is further comprising the steps of,

Provide the mobile command instruction, to be used for command and control system according to control moving of mooring machinery hand by the performed calculating of treater; And

Configuration-direct is controlled moving of mooring machinery hand with the command and control system basis by the performed calculating of treater.

Preferably, provide one group of instruction, it is disposed for instructing treater to calculate with the mooring machinery hand is required and moves relevant numerical value, under the situation of the inertia that begins significantly not change boats and ships engaging gear is engaged with boats and ships.

Preferably, further configuration-direct is controlled moving of mooring machinery hand to be used for the command and control system basis by the performed calculating of treater.

Preferably, this group instruction is stored in the memory storage.

Another aspect of the present invention is that a kind of mooring facilities that utilizes at least one that the mooring machinery hand is installed comes the method for mooring ship, this mooring machinery hand comprise be used for near the engaging gear of the engage sides of the boats and ships of mooring facilities and the travel mechanism that is used for moving this engaging gear, said method comprising the steps of;

Calculate mobile relevant desired value next the moving at least towards the condition of the kinetic energy that the direction of mooring facilities effect on by mooring machinery hand reduces boats and ships under engaging gear with boats and ships engaged at permission control mooring machinery hand required with the mooring machinery hand.

Another aspect of the present invention is a kind of be used to the receive boats and ships of close mooring facilities and the mooring system that the close speed of boats and ships is carried out part control at least, and described system comprises:

Be installed to the row of one on mooring facilities mooring machinery hand, each mooring machinery hand comprises substrate and at least one the boats and ships contact member that is fixed on the mooring facilities, thereby this boats and ships contact member supports (i) can move and (ii) can be arranged to engage the side of described boats and ships with respect to this mooring facilities by a mode by travel mechanism

At least one sensor, with the position of detection boats and ships with respect to mooring facilities,

Treater, it receives the information about this position of ship from this sensor, described treater can calculate move based on the information that is received by this treater, to calculate the instruction that the contact member that is used for each this mooring machinery hand by this mooring system reception period at these boats and ships moves

Controller, the state that its (i) controls each mooring machinery hand with their contact members separately with navigate in the appropriate location by a mode before boats and ships contact, wherein, the mooring machinery hand is at least in the close speed that can reduce boats and ships on the direction of mooring facilities, and the state of (ii) controlling each mooring machinery hand to be navigating to their contact members separately in the appropriate location with the boats and ships period of contact, with at least in the close speed that reduces boats and ships on the direction of mooring facilities.

Preferably, described substrate is fixed on the mooring facilities by permanent and fixing mode.

Preferably, described substrate is fixed on the mooring facilities by removable mode.

Preferably, comprise the information that produces by sensor by the received information of treater about position of ship.

Preferably, the loaded weight that comprises close boats and ships by the received information of treater.

Preferably, this at least one contact member is a sucker, and the suction that can produce between boats and ships and sucker can be fixed together mooring machinery hand and boats and ships.

Preferably, second contact member that can contact with boats and ships but can not be fixed together with boats and ships is provided, second contact member can move (i) with respect to sucker with by preventing that the mode that during receiving boats and ships sucker engages boats and ships from locating, and (ii) locatees by the mode that allows after beginning to receive sucker to engage boats and ships and to be fixed on the boats and ships.

Preferably, travel mechanism comprises at least one hydraulic actuating cylinder, can partly absorb boats and ships at least by application force that contact member applied by this hydraulic actuating cylinder.

Another aspect of the present invention is a kind of mooring system that is used for fixing near the boats and ships of mooring facilities, and described system comprises:

Be installed to mooring machinery hand on the mooring facilities, linearly aligned, each mooring machinery hand comprises substrate and at least one sucker, this substrate by with respect to its movably mode be fixed on the mooring facilities, this at least one sucker is moved mechanism's supporting by a mode, thereby (i) can move with respect to mooring facilities, and (ii) can be provided with engage sides with described boats and ships

Treater, it receives the information about position of ship from sensor, and described treater can calculate move based on the information that is received by treater, calculating the instruction of moving of the mooring machinery hand that is used for arranging,

Controller, its control mooring machinery palmistry are for the position of mooring facilities and position relative to each other, and with the quantity of the mooring machinery hand in the control arrangement, the mooring machinery hand in this arrangement is positioned in and sails the boats and ships that come to carry out in the position contacting.

Another aspect of the present invention is a kind of mooring facilities, and it comprises mooring system as described in this article.

Another aspect of the present invention is a kind of harbour, it comprises a plurality of mooring machinery hands of locating by linear rank that are installed on the harbour, each mooring machinery hand comprises that the sucker of installing movably with respect to harbour is to be used to contact and be fixed to the vessel's side of close harbour, to keep boats and ships near harbour, described sucker is a controollable, engage with sailing the boats and ships that come simultaneously to be oriented to be used for, comprise when the side of boats and ships not exclusively is parallel to this linear rank.

Another aspect of the present invention is a kind of harbour, it comprises a plurality of mooring machinery hands of locating by linear rank that are installed on the harbour, each mooring machinery hand comprises that the sucker of installing movably with respect to harbour is to be used to contact and be fixed to the vessel's side of close harbour, to keep boats and ships near harbour, described sucker is a controollable, engage with sailing the boats and ships that come by asynchronous mode to be oriented to be used for, comprise when the side of boats and ships not exclusively is parallel to this linear rank.

Other aspects of the present invention can become apparent in that only provide by way of example and following description with reference to the accompanying drawings.

As used herein term " and/or " be meant " with " or " or ", perhaps both.

Be meant the individual and/or a plurality of forms of odd number of noun as used herein at noun fwd " one or more ".

" comprise " as employed term in this specification sheets and the claim and to be meant " comprising at least in part ".The described feature of this term in explanation comprises this specification sheets of this term and the narrative tense in the claim, and each is stated must all exist, but also can have other features.Related term for example " comprises " and " including " will explain by the same manner.

Herein in conjunction with top and below quote all applications, patent and the document of (if any) whole disclosures add by reference at this.

Concerning the technical personnel in field involved in the present invention, do not breaking away under the situation of scope of the present invention as defined by the appended claims, the present invention itself has pointed out variation and the different embodiments of the invention and the application of a plurality of configuration aspects.In any case disclosure herein and description only are illustrative and do not mean that restriction.

Description of drawings

Now only by way of example and with reference to the accompanying drawings to describe the present invention, wherein:

Fig. 1: shown boats and ships with before the mooring machinery hand engages on the direction shown in the arrow near terminal;

Fig. 2: shown the boats and ships that engaged, and the mooring machinery hand is in the process of speed of the boats and ships that slow down with the mooring machinery hand; And

Fig. 3: shown to stop and by the good boats and ships of mooring;

Fig. 4: the lateral plan that has shown known mooring machinery hand.

The specific embodiment

By with reference to above-mentioned figure, represent by Reference numeral 100 usually according to the mooring system of invention first aspect.

In a described embodiment, mooring system 100 is provided, it is applicable to by means of a plurality of mooring machinery hands 110 and receives at terminal 600 places and maintenance boats and ships 500.Mooring machinery hand 110 comprises engaging gear 120.It can comprise sucker 122 and the vacuum source that is associated, and this sucker 122 is activatablely to engage with boats and ships 500 and fix against boats and ships 500 by suction.Travel mechanism 130 comprises arm connecting rod 132, and this arm connecting rod 132 is configured to move described sucker.Imagination arm connecting rod 132 can be telescopic or radial type, and can move by using a plurality of hydraulic actuating cylinders 134, also can use motor and gear.This allows sucker to move with respect to terminal by bidimensional and preferred three-dimensional size.Travel mechanism 130 can move to engaging gear 120 place of expectation in its envelope inside, (thereby separately or with other mooring machinery hands synergistically) applies control on boats and ships 500, and these boats and ships 500 engage and/or are fixed on the engaging gear 120 with engaging gear 120.

Mooring system 100 also comprises position detecting system, and this position detecting system is applicable to and detects position and the generation position signal relevant with the position of detected boats and ships 500 of sailing the boats and ships 500 that come.Imagination, position detecting system can comprise global positioning system (GPS), this global positioning system can comprise one or more 6PS unit 391 that are positioned on the boats and ships.This can be sent to the variation of the position of the part of boats and ships 500 and/or boats and ships 500 and/or speed and/or speed aspect other parts of position detecting system from boats and ships 500.

Replacedly, perhaps in addition, imagination, position detecting system can come work by using local distance sensor 390 (for example, known laser, infrared beam, radar or ultrasonic distance sensor), perhaps fixes with respect to terminal.Described localized sensor can be arranged on the engaging gear 120 of each mooring machinery hand 110 or with respect to terminal and fix.

Imagination can will send control system 160 to by detected relative distance and the direct of travel of sailing the boats and ships that come of checking system in one embodiment.In an embodiment shown in Fig. 1-3, control system 160 is concentrated, so that can come to control all mooring machinery hands 110 independently by control system 160 with respect to the position of each in the mooring machinery hand 110 according to boats and ships 500.

Yet in another embodiment, the local distance sensor only needs will be apart from sending the partial control system 160 that is used for single mooring machinery hand 110 to, so that control the action of described mooring machinery hand separately by controller.Like this, each independent mooring machinery hand can be worked independently.

Mooring system 100 can activate between the state that state of activation that position detecting system can be worked and mooring machinery hand 110 are in standby.In standby, can consider that detected distance, speed, kinetic energy or acceleration/deceleration of sailing boats and ships control moving of manipulator.In non-standby, the mooring machinery hand be not in be ready to state that boats and ships operationally engage in, but its sensor is opened can survey the close of boats and ships.In shutdown mode, the mooring machinery hand can make its position detecting system close or be in other the close states that do not detect boats and ships 500.

In one embodiment, can between state of activation and unactivated state, manually activate mooring system 100.

Mooring system also comprises one group of mobile computing instruction, and this will consider the information from position detecting system.This can be presented as the form of software that can move on computers.

This group mobile computing instruction can be presented as the software that is configured to instruction processing unit.

The position signal that is produced can be used to calculate two desired values.

First desired value is expressed as 110 required the moving of mooring machinery hand, so that do not make the inertia of boats and ships 500 produce under the situation of marked change (that is, thereby do not collide sucker fiercely at it and destroy under the situation of boats and ships 500, terminal 600 or mooring machinery hand 110) sucker is engaged with boats and ships 500 in beginning.

The mobile computing instruction is gone back computation chart and is shown the mooring machinery hand 110 required second mobile desired value or second group of desired value, so that the speed of the boats and ships that reduce to move 500 stops preferably making boats and ships in fact.In addition, preferably, under without any the situation of slowing down suddenly.

Preferably, come boats and ships are carried out control by the mode that prevents boats and ships and terminal 600 and/or the destructive collision of mooring machinery hand 110 generations by a mooring machinery hand or each mooring machinery hand.

Second index can also be provided for the mooring machinery hand with boats and ships begin period of contact and/or with the service conditions that must be in after boats and ships begin to contact or the instruction of state.This is preferred, so as to allow the mooring machinery hand during boat docking by preventing that the mode of destroying boats and ships, mooring machinery hand and/or terminal from operating.For example, may on the boats and ships of sailing, apply very big application force so that it is stopped.This may need suction and hydraulic coupling to be set to maxim.

Mobile computing instruction may also comprise calculating, with determine the mooring machinery hand whether can be placed on during the docking process with safety of ship in the state that engages.Make boats and ships stop needed moving range and can exceed the scope that the mooring machinery hand can be handled.May be with consistent with other mooring machinery hands of boats and ships joint, the mooring machinery hand can not be operated safely, so that boats and ships stop.This can cause the mooring machinery hand to be moved to making it to throw off and the boats and ships state of contact.Yet this may also cause forming contact to assist to reduce the speed of boats and ships.Such contact may be temporary transient, because may remove contact, for example, if reach the limit of sucker stroke.

Control system 160 can comprise controller, and this controller is connected to and is used for activating the state of mooring machinery hand and/or the switch of change in location according to index.

Control system 160 is controlled moving of mooring machinery hand 110 according to the commander of mobile command instruction.Treater can be to be mounted to the application specific processor (generally in computing machine) that is used in particular for mooring system, and perhaps it can generally show as a part that is arranged on the other system on terminal and/or the boats and ships.Similarly, software instruction generally is stored in the memory storage of the digital memeory device of form such as hard disc of computer, chip for example.

Mooring system 100 may also use from or the information of the system of automatic recognition system (AIS) for example of deriving from discern the boats and ships of sailing 500, and obtain relevant information, for example its loading and unload load carrying ability, size and quality etc. about boats and ships 500.

Mobile computing instruction and mobile command instruction can the use location signal differential command the mobile and/or state of treater parameter and commander's controller control mooring machinery hand.Particularly, mobile computing instruction and mobile command instruct can use be selected from following one or more,

The о boats and ships are with respect to the speed of terminal,

The acceleration/accel of о boats and ships or deceleration/decel,

The kinetic energy of о boats and ships, and

The inertia of о boats and ships.

Then, some in this information or all can be used for calculating expression mooring machinery hand required mobile index do not make sucker engage with boats and ships so that the inertia of boats and ships is not produced in beginning under the situation of marked change; Calculate the required mobile index of expression mooring machinery hand, further do not stop the boats and ships to move under the situation of unexpected deceleration so that do not experience at boats and ships; And/or described mooring system activated be state of activation.State of activation can be variable.For example, if large-scale boats and ships near or if to make boats and ships stop required energy very big, then can make the mooring machinery hand enter the state that can absorb such energy, if boats and ships are small-sized or advance unhappyly that then it can be different state.

In the kinetic energy or inertia of Ship ', mobile computing instruction and mobile command instruction can be used the speed of boats and ships or acceleration/accel and the quality of the known boats and ships imported by the operator and the combination of size chart, perhaps can (for example, AIS) obtain described chart from known information system.

In a preferred embodiment, mooring system 100 comprises a plurality of urgent buffer element 170 that is associated with each mooring machinery hand 110.Described urgent buffer element 170 is suitable for absorbing having and surpasses the kinetic energy that can be absorbed by mooring machinery hand 110 or the energy of sailing boats and ships 500 of speed.Therefore, urgent buffer element 170 provides extra urgent protection for boats and ships 100, terminal 600 or mooring machinery hand 110.Imagination; described urgent buffer element 170 can be movable between non-expanded position and expanded position; in described non-expanded position; it can not hinder the normal operation of mooring machinery hand 110; in described expanded position, it is applicable to protection one or more in terminal 600, boats and ships 500 and the mooring machinery hand 110.Usually, urgent buffer element 170 is maintained in the non-expanded position, and if detect emergency situation then automatically move to its expanded position.Generally when surpassing the predetermined threshold of boats and ships 500, the kinetic energy of sailing the boats and ships 500 that come, close speed and/or inertia will produce described situation.In addition, kinetic energy or the inertial time when Ship ' 500 can use AIS to determine the quality (because described kinetic energy or inertia are proportional with the quality of boats and ships at least in part) of boats and ships 500.

In a preferred embodiment, urgent buffer element 170 comes work by means of known energy absorber systems such as for example air bags, so that urgent buffer element 170 can promptly move to its expanded position.Yet, urgent buffer element 170 can also by timber or for example the elastomeric material of rubber constitute.The main working direction of boats and ships is to be applied to the parallel direction of application force on the boats and ships with sucker, and wherein system comes work with buffer element relevantly.This is because buffer element can assist to stop boats and ships moving rather than front/rear moving on the direction of Athwartship best.

In a preferred embodiment, mooring machinery hand 110 comprises the wheel on the track that is installed in terminal.By this way, the mooring machinery hand can move along terminal 600.Imagination, mooring machinery hand 110 can be moved along terminal 600 by remote control, and can be come the oneself to drive by their independent driving mechanism (for example, driving engine and driving device or electrical motor etc.).In another embodiment, the capstan winch and the capstan winch hawser that may be attached on arbitrary end of mooring machinery hand 110 of mooring machinery hand moves.

In another embodiment, mooring machinery hand 110 needn't be installed by track, but can have common rubber wheel and can be driven by the mechanical arm of similar vehicles.The mooring machinery hand can come to be driven the control of mechanical arm (preferably by) independently to new position along terminal 600 according to the size of the boats and ships 500 for the treatment of docking and mooring.

Imagination, in case the mooring machinery hand engages with boats and ships, then mooring machinery hand 110 can be used to boats and ships 500 are moved to the optimum position that is used to unload or unload or be used to increase safety.

Imagination, the sucker 122 of mooring machinery hand 110 and the repeated collision of boats and ships can cause the undue wear of sucker 122.For this reason, mooring machinery hand 110 can be provided with and be used for preventing that sucker 122 is by boats and ships 500 worn-down guard blocks 264 when engaging gear 120 engages with boats and ships 500.Described guard block can be different shape and size; and can be movable between protective position (as shown in Figure 4) and retracted position, at this protective position place, prevent that sucker 122 from being worn and torn by boats and ships 500; at this retracted position place, it can engage and fix with boats and ships 500.Usually, when being positioned at protective position, guard block will stretch out farther than engaging sucker.It can be that abrasive resistant material by for example hard rubber etc. constitutes.When engaging gear engages with boats and ships 500 when making its docking, guard block generally will be moved to protective position, but when berthing it on engaging gear is fixed to the side of boats and ships 500, it will move to retracted position.

When using guard block 264, the mooring machinery hand may not provide or provide very little resistance to boats and ships moving on the direction of the Athwartship direction of the normal direction of the suction of sucker (that is, perpendicular to).Therefore, described system only controls the mooring machinery hand by the mode that the Athwartship direction of considering boats and ships moves.May allow in the slip on the front/rear direction that boats and ships are advanced between boats and ships and the mooring machinery hand.Guard block can be a wheel to prevent the hull of boats and ships is scratched during what such slip in office.

Also assist to stop the occasion that moves on front/rear direction at the mooring machinery hand, can not use guard block.Sucker and engaging of boats and ships are to assist to stop mobile necessary on front/rear direction.The suction of normal direction will be determined the ability of the engaging force of the shear direction between boats and ships and the sucker, and if required, it can be used for calculating.

The following general operation that mooring system 100 is described:

The operator is actuated into its state of activation with mooring system 100.It is close up to boats and ships that they enter into non-armed state.The close sensitivity of 100 pairs of boats and ships 500 of mooring system.At the boats and ships 500 of docking during near responsive mooring system 100, this system moves to armed state when just.Position detecting system detects the position of boats and ships 500 and produces position signal.Position signal will be sent to control system 160, and this control system 160 will be handled position signal in treater.Treater will be cooperated with the mobile computing instruction.Treater will produce two groups of desired values.Controller can use one group of desired value and instruct in conjunction with mobile command controls moving of mooring machinery hand 110.

At first, imagination, the engaging gear 120 at end place that is positioned at the arm connecting rod 132 of mooring machinery hand 110 outwards is stretched over its maximum range towards sailing the boats and ships 500 that come.Just at boats and ships 500 with before engaging gear 120 contacts, arm connecting rod 132 can begin inwardly to retract engaging gear towards terminal 600 by the speed that is slightly less than the speed of sailing boats and ships 500, so that boats and ships 500 engage with engaging gear 120, and tensile arm connecting rod 132 still is in its most span.The result that should move be that boats and ships 500 engage with engaging gear 120 under the situation of the inertia that does not significantly change boats and ships 500, so that it is not subjected to damage the influence of the impact of mooring machinery hand 110 and/or boats and ships 500.Only play in the docking pattern of speed of the Athwartship direction that reduces boats and ships at a kind of manipulator, imagination begins to stop up to boats and ships 500 from the docking process, and guard block is in protective position, is sailed boats and ships 500 undue wears that come to prevent vacuum cup 122.

In case boats and ships 500 have stopped, then guard block will be moved to retracted position, to allow the contacts side surfaces of vacuum cup 122 and boats and ships 500, allow it to be fixed on the side of boats and ships 500 by suction, thereby boats and ships 500 are moored on the terminal 600.Then, mooring machinery hand 110 can be moved to preferred positions or orientation together with the boats and ships that are fixed.

In case boats and ships 500 engage with engaging gear 120 lightly, then controller is controlled tensile arm connecting rod and is come in remaining arm connecting rod 132 extension distance boats and ships 500 are decelerated to towards the speed of terminal 600 and stop.Reposefully and with suitable deceleration/decel boats and ships are stopped, so that avoid impact to boats and ships 500 or mooring machinery hand 110.The hydraulic efficiency pressure system of hydraulic actuating cylinder 134 that to a great extent, can be by for example mooring machinery hand absorbs the kinetic energy of boats and ships.Do not use in the operating mode of guard block in system, can also stop or reduce the front/rear of boats and ships by the mooring machinery hand and move.Can also be controlled on the described direction by the caused initial movable of sucker, to guarantee that formation connects under the situation that does not have between boats and ships and the sucker to slide or do not have significantly slip at the beginning period of contact.In case join on the boats and ships, then can stop front/rear moving and/or the moving of Athwartship.Move up and down the restriction that can not be subjected to the mooring machinery hand the boats and ships of sucker joint any, that is, sucker can freely move up and down.

Sucker can be installed on the horizontal rail of mooring machinery hand so that it can produce corresponding to moving that boats and ships move forward and backward along terminal.Such moving of sucker can be controlled by hydraulic actuating cylinder or any other suitable actuating device.

The mooring machinery hand is set to proper state in advance.This can comprise hydraulic pressure and/or the compressed-air controlled convenient pressure that the mooring machinery hand is set.

In addition, described system can control a plurality of mooring machinery hands synergistically.For example, if boats and ships are close by the linearly aligned mode that the side of boats and ships is not parallel to the mooring machinery hand on the terminal, then the arrangement of manipulator can be located its sucker corresponding to the side of boats and ships, so that all suckers engage in fact simultaneously.This can be avoided any one manipulator to engage and avoided the possible overload of that manipulator before other manipulators.This also helps to guarantee to make a concerted effort in the maximum that all mooring machinery hands during the boat docking can be applied on the boats and ships simultaneously.

Replacedly, described system may control the mooring machinery hand by the method that one or more mooring machinery hands engage before other manipulators in this arrangement.Have and help to stop the mooring machinery hand of the maximum capacity that moves earlier to engage than other manipulators.For example, close if boats and ships are pressed certain angle, then the mooring machinery hand can at first engage the immediate part of boats and ships.This contact that begins can impel the speed of boats and ships to reduce at least in part, and can help boats and ships are moved to the state more parallel with terminal with this arrangement,, can rotate boats and ships by described contact that is.

The speed of the boats and ships that come surpasses predetermined threshold or above the predetermined threshold for boats and ships 500, then urgent buffer element 170 can automatically move on to expanded position to help the impact of buffering to mooring machinery hand 110, boats and ships 500 and/or terminal 600 if sail.

Mooring system can also be come work by the mode of additional more polyphyly pool manipulator, if system determines or indicate this mode to be essential.

For example, if there are the boats and ships bigger close, then have and necessaryly more mooring machinery hand is set comes (a) to help to stop moving of boats and ships and/or (b) after the beginning docking, keep mooring than the quality of the boats and ships before the mooring end.For example, utilize the mooring machinery hand of installing in orbit, such replenishing can be simply and easily.Equally, unloading manipulator from manipulator is arranged can be easily to receive boats and ships.In addition, imagination in case finish the docking process, then can unload manipulator from described arrangement.During docking, more manipulator may must belong to described arrangement to help to stop boats and ships, and still after the beginning docking, all manipulators do not keep by the boats and ships of mooring in not needing to arrange.

Wherein in above stated specification,, comprise such coordinator then, set forth individually as them with reference to element with known equivalent or integral body.

Though described invention by way of example and with reference to special embodiment, it should be understood that, under situation about not departing from the scope of the present invention with spirit, can improve and/or improve.

In addition, wherein described feature of the present invention or aspect, those skilled in the art will recognize that, therefore also described the present invention according to any separate part or the son group of Ma Kushi group parts according to Ma Kushi (Markush) group.

Claims

1. mooring system, it is applicable to by at least one mooring facilities that the mooring machinery hand is installed will sail next ship mooring to end, that this mooring machinery hand comprises is activatable, with the engaging gear that engages with boats and ships be used for the travel mechanism that moves this engaging gear with respect to described mooring facilities, described mooring system comprises:

2. mooring system as claimed in claim 1, wherein, this mobile computing instruction also is used to calculate the required mobile index of at least one mooring machinery hand of expression, so that stop these boats and ships that move at boats and ships under the situation of not slowing down suddenly on the moving direction of mooring facilities at least.

3. mooring system as claimed in claim 1 or 2, wherein, this mooring system comprises the mobile command instruction, it is disposed for command and control system and comes to control moving of described at least one mooring machinery hand according to the one or more indexs that calculated.

4. one kind as each described mooring system in the claim 1 to 3, wherein, this mobile command instruction is configured at least one mooring machinery hand of commander and stretches this engaging gear away from this mooring facilities and towards these boats and ships of sailing, and then with the speed of the speed of sailing the boats and ships that come less than this this engaging gear of on this direction, withdrawing, so that make these boats and ships begin to contact with this mooring machinery hand by the mode of not destroying these boats and ships and/or mooring machinery hand.

5. mooring system according to any one of claims 1 to 4, wherein, this mobile command instruction is configured for a plurality of mooring machinery hands of this mooring system of commander, and these a plurality of mooring machinery hands are arranged by one and are set at described mooring facilities place.

6. one kind as each described mooring system in the claim 1 to 5, wherein, the instruction of this mobile command is configured for a plurality of mooring machinery hands of commander, being that the kinetic energy that the boats and ships that come are sailed in absorption provides best arrangement architecture by the mode of not destroying these boats and ships and/or mooring machinery hand.

7. one kind as each described mooring system in the claim 1 to 6, and wherein, this best arrangement architecture comprises the engaging gear that each mooring machinery hand is set like this, makes their all engage with these boats and ships simultaneously.

8. one kind as each described mooring system in the claim 1 to 6, and wherein, this best arrangement architecture comprises the engaging gear that each mooring machinery hand is set like this, makes them all side by side and preferably sequentially not engage with these boats and ships.

9. mooring system as claimed in claim 8, wherein, press linear rank with respect to this mooring machinery hand of this mooring terminal positioning, and arrangement architecture that should the best comprises this engaging gear is set in such a way, not make that all the whiles do not engage with these boats and ships this engaging gear with this arrangement during abreast near this arrangements when the boats and ships with hatch door or starboard side at hatch door or starboard side.

10. one kind as each described mooring system in the claim 3 to 9, wherein this mobile command instruction be configured for that at least one mooring machinery hand of commander comes to engage with these boats and ships and with this boats and ships mutual action to reduce its kinetic energy.

11. one kind as each described mooring system in the claim 1 to 10, wherein, this travel mechanism comprises at least one hydraulic actuating cylinder, and reduces to sail the kinetic energy of the boats and ships that come by the flowing of fluid by this hydraulic actuating cylinder.

12. one kind as each described mooring system in the claim 3 to 11, wherein, this mooring system comprises that the commander according to this mobile command instruction controls the control system that moves of this travel mechanism.

13. each described mooring system in the claim as described above, wherein, this mooring system comprises the treater that is used to carry out calculating.

14. one kind as each described mooring system in the claim 1 to 13, wherein, this mooring system comprises that at least one is used to store mobile computing instruction or mobile command instruction or both memory storages.

15. each described mooring system in the claim as described above, wherein, this mooring system comprises and is used to the transceiver that receives and transmit.

16. each described mooring system in the claim as described above, wherein this position detecting system comprises at least one global positioning system (GPS).

17. each described mooring system in the claim as described above, wherein this position detecting system comprises at least one local distance checking system and/or local positioning system.

18. a mooring system as claimed in claim 17, wherein this local distance checking system comprises with respect to a fixing rang sensor in this mooring machinery hand and the mooring facilities.

19. a mooring system as claimed in claim 1, wherein, this mooring system comprises at least one mooring machinery hand.

20. a mooring system as claimed in claim 1, wherein, this mooring system comprises a plurality of mooring machinery hands.

21. one kind as each described mooring system in the claim 13 to 20, wherein this control system is controlled each in these a plurality of mooring machinery hands, and these a plurality of mooring machinery hands are controlled independently of each other.

22. one kind as each described mooring system in the claim 13 to 21, wherein this control system is controlled each in these a plurality of mooring machinery hands, and these a plurality of mooring machinery hands are controlled independently of each other, but work synergistically each other.

23. one kind as each described mooring system in the claim 13 to 22, wherein, that selects from this mobile computing instruction and this mobile command instruction one or morely is configured to receive the information relevant with the feature of the boats and ships for the treatment of mooring.

24. a mooring system as claimed in claim 23, wherein, this feature is to be selected from one or more in any other features of light mass, loaded weight, length and these boats and ships.

25. a mooring system as claimed in claim 23, wherein, this mooring system is configured to receive the information about the feature of these boats and ships from the automatic recognition system of boats and ships.

26. a mooring system as claimed in claim 23, wherein, the one or more use locations signal that is selected from this mobile computing instruction and the instruction of this mobile command commands treater calculating expression to be selected from following one or more index:

These boats and ships are with respect to the speed of this terminal,

The acceleration/accel of these boats and ships or deceleration/decel,

The kinetic energy of these boats and ships, and

The inertia of these boats and ships.

27. each described mooring system in the claim as described above; wherein; this mooring system comprises at least one urgent buffer element; this urgent buffer element be applicable to that the kinetic energy that is absorbed on the direction of this mooring facilities surpasses that this mooring machinery hand can absorb kinetic energy this sail the energy of boats and ships, thereby provide extra protection for these boats and ships, mooring facilities and/or mooring machinery hand.

28. mooring system as claimed in claim 27, wherein, it is movable that this urgent buffer element can not contact between the non-expanded position of these boats and ships and the expanded position that this buffer element can contact these boats and ships at it, no matter whether this engaging gear also can engage these boats and ships.

29. mooring system as claimed in claim 27, wherein, this urgent buffer element is maintained in this non-expanded position usually, and automatically moves to its expanded position greater than by the absorbent kinetic energy of this one or more mooring machinery hands institute the time at the kinetic energy that detects these boats and ships by one or more position transdusers and/or this one or more mooring machinery hands.

30. one kind as each described mooring system in the claim 27 to 29, wherein, this mooring system comprises a plurality of urgent buffer elements.

31. one kind as each described mooring system in the claim 16 to 21; wherein; when the energy absorption capacity of one or more mooring machinery hands when one or more in the kinetic energy of sailing boats and ships that is calculated on the direction of this mooring facilities and the inertia surpass when concerted action at least; the instruction of this mobile command is configured for and absorbs as much as possible this under the situation that these one or more mooring machinery hands of commander had not been destroyed sail the energy of boats and ships before being withdrawn into protected position, and this mooring machinery hand comes the protected destruction of avoiding these boats and ships by this buffer element in this protected position.

32. each described mooring system in the claim as described above, wherein, this mooring system is configurable between state of activation and dead status, in this state of activation, the position detecting system of this system is that exercisable the detection near the vessel's position that moves and in response to this vessel's position that is detected controlled this one or more mooring machinery hands, in this dead status, this position detecting system can not be operated.

33. mooring system as claimed in claim 6, wherein, in case when this control system can be configured to the docking of these boats and ships then activate this engaging gear to engage with these boats and ships and these boats and ships are fixed on the terminal by these one or more mooring machinery hands.

34. mooring system as claimed in claim 6, wherein, in case this control system can be configured to during these boats and ships begin docking these boats and ships and stops to activate this engaging gear by these one or more mooring machinery hands when mobile and engage with these boats and ships and these boats and ships are fixed on the terminal, and these boats and ships are moved in the desired location with respect to terminal.

35. mooring system as claimed in claim 6, wherein this control system can be configured to activate this engaging gear by these one or more mooring machinery hands during these boats and ships begin docking and engages with these boats and ships and these boats and ships are fixed on the terminal, is carrying out some controls towards the speed to these boats and ships on the direction of this mooring facilities and on perpendicular horizontal direction then.

36. mooring system as claimed in claim 6, in case wherein this control system can be configured to during these boats and ships begin docking these boats and ships and stops to activate this engaging gear by these one or more mooring machinery hands when mobile and engage with these boats and ships and these boats and ships are fixed on the terminal, and these boats and ships are moved to preset distance place with respect to terminal.

37. each described mooring system in the claim as described above, wherein, this mooring system is used from the information of automatic recognition system (AIS) reception of single bottom oceangoing ship and is sailed the boats and ships that come and determine the relevant information relevant with these boats and ships to discern this, for example, and weight, size etc.

38. each described mooring system in the claim as described above, wherein, this mooring system is used from the information of automatic recognition system (AIS) reception of single bottom oceangoing ship and is sailed the boats and ships that come and determine the relevant information relevant with these boats and ships to discern this, for example, weight, size etc., use for being selected from following one or more situations:

This mooring system is activated to its state of activation.

39. each described mooring system in the claim as described above, wherein, the engaging gear of this mooring machinery hand comprises the sucker that is communicated with the vacuum source fluid, and this vacuum source allows this sucker to be attached on the hull of these boats and ships by suction.

40. each described mooring system in the claim as described above, wherein, this engaging gear comprises be used for preventing that this sucker is by this boats and ships worn-down guard block when this engaging gear during these boats and ships begin docking engages with these boats and ships.

41. a mooring system as claimed in claim 40, wherein, this guard block can be movable between protective position and retracted position, and in this protective position, the protection sucker is not is not worn and torn by boats and ships, and in this retracted position, this sucker can engage with these boats and ships and be fixing.

42. each described mooring system in the claim as described above, wherein, this travel mechanism comprises at least one movably arm connecting rod, and this arm connecting rod is positioned at the base that is installed to this mooring machinery hand on this mooring facilities and the centre of this engaging gear.

43. each described mooring system in the claim as described above, wherein, this travel mechanism allows controlled move of this fixed mechanism with respect to this mooring facilities.

44. a mooring facilities that utilizes at least one that the mooring machinery hand is installed comes the method for mooring ship, this mooring machinery hand comprise be used for near the engaging gear of the engage sides of the boats and ships of mooring facilities and the travel mechanism that is used for moving this engaging gear, described method comprises step;

45. the method for a mooring ship as claimed in claim 44, wherein, this method comprises the step of calculating the required mobile index of this mooring machinery hand of expression, these boats and ships moving so that slow down towards this mooring facilities, preferably under the situation of not slowing down suddenly, thereby the destructiveness that prevents these boats and ships and this mooring facilities is collided.

46. one kind as claim 44 or the 45 described methods that make boat docking, wherein, this method comprises that commander's controller controls the step that these boats and ships is stopped with under the situation of not slowing down suddenly that moves of mooring machinery hand according to the index that is calculated.

47. one kind as each described method that makes boat docking in the claim 44 to 46, wherein, this method comprise activate this position detecting system make its to boats and ships near responsive step.

48. a method that makes boat docking as claimed in claim 47 wherein, is automatically carried out the step that activates this position detecting system by the automatic recognition system (AIS) of these boats and ships.

49. one kind as each described method that makes boat docking in the claim 44 to 48, wherein, this method comprises to be calculated expression this sails boats and ships of coming at least in the index of the kinetic energy on the direction of this mooring facilities effect.

50. method that makes boat docking as claimed in claim 49; wherein; this method comprises that the urgent buffer element of configuration responds the expression that is calculated and sails the index of the kinetic energy of boats and ships to surpass the step of a certain limit, thereby protects one or more in these boats and ships, this mooring facilities and this mooring machinery hand.

51. one kind as each described method that makes boat docking in the claim 44 to 50, this method comprises sails towards this that boats and ships that come stretch at least a portion of engaging gear and the step of the part of being stretched out by the slower speed withdrawal of the speed of sailing the boats and ships that come than this then, thereby is not impelling this to sail boats and ships that come and the partial engagement that is stretched out under the situation that this mooring machinery hand and/or this boats and ships is not produced impact damage.

52. one kind provides the method that is applicable to the mooring system that receives boats and ships, these boats and ships are near mooring facilities, this mooring facilities comprises a plurality of mooring machinery hands that are installed on the mooring facilities, described mooring machinery hand comprises and is used for the engaging gear of the engage sides of boats and ships and is used for the travel mechanism that moves this engaging gear with respect to this mooring facilities, described mooring machinery hand forms the part of system, and this system comprises:

Controller, the information that its response receives from this treater is controlled moving of this mooring machinery hand, said method comprising the steps of;

The mobile computing instruction is provided, calculates required the moving of each mooring machinery hand, so that under the situation to this mooring machinery hand and/or boats and ships generation destruction this engaging gear is engaged with these boats and ships with the position signal that is used to indicate this treater utilization to be produced; And

Configuration-direct calculates required the moving of this mooring machinery hand with the position signal of commanding this treater utilization to be produced, so that by avoiding the mode to this mooring machinery hand and/or boats and ships generation destruction that this engaging gear is engaged with these boats and ships.

53. a mooring facilities that utilizes at least one that the mooring machinery hand is installed comes the method for mooring ship, this mooring machinery hand comprise be used for near the engaging gear of the engage sides of the boats and ships of mooring facilities and the travel mechanism that is used for moving this engaging gear, said method comprising the steps of;

Calculate the mobile relevant desired value required, come allowing the mobile of this mooring machinery hand of control under the condition of the kinetic energy that reduces these boats and ships on the direction of this mooring facilities effect by this mooring machinery hand, this engaging gear is engaged with these boats and ships at least with this mooring machinery hand.

54. one kind is used to receive near the boats and ships of mooring facilities and the mooring system that the close speed of boats and ships is carried out part control at least, described system comprises:

Be installed to the row of one on this mooring facilities mooring machinery hand, each mooring machinery hand comprises substrate and at least one the boats and ships contact member that is fixed on this mooring facilities, thereby this boats and ships contact member supports (i) can move and (ii) can be arranged to engage the side of described boats and ships with respect to this mooring facilities by a mode by travel mechanism

At least one sensor, detecting the position of these boats and ships with respect to this mooring facilities,

Controller, the state that its (i) controls each mooring machinery hand with their contact members separately with navigate in the appropriate location by a mode before these boats and ships contact, wherein, this mooring machinery hand is at least in the close speed that can reduce these boats and ships on the direction of this mooring facilities, and the state of (ii) controlling each mooring machinery hand to be navigating to their contact members separately in the appropriate location with this boats and ships period of contact, with at least in the close speed that reduces these boats and ships on the direction of this mooring facilities.

55. a mooring system as claimed in claim 54, wherein, this substrate is fixed on this mooring facilities by permanent and fixing mode.

56. a mooring system as claimed in claim 54, wherein, this substrate is fixed on this mooring facilities by removable mode.

57. one kind as each described mooring system in the claim 54 to 56, wherein, is comprised the information about this position of ship that is produced by this sensor by the received information of this treater.

58. one kind as each described mooring system in the claim 54 to 57, wherein, is comprised the loaded weight of these close boats and ships by the received information of this treater.

59. one kind as each described mooring system in the claim 54 to 58, wherein, this at least one contact member is a sucker, and the suction that can produce between these boats and ships and this sucker can be fixed together mooring machinery hand and this boats and ships.

60. mooring system as claimed in claim 59, wherein, second contact member that can contact with these boats and ships but can not be fixed together with these boats and ships is provided, this second contact member can move (i) with respect to this sucker with by preventing that the mode that during receiving these boats and ships this sucker engages these boats and ships from locating, and (ii) locatees by the mode that allows after beginning to receive this sucker to engage these boats and ships and to be fixed on these boats and ships.

61. one kind as each described mooring system in the claim 54 to 60, wherein, this travel mechanism comprises at least one hydraulic actuating cylinder, can partly absorb these boats and ships at least by application force that this contact member applied by this hydraulic actuating cylinder.

62. mooring system that is used for fixing near the boats and ships of mooring facilities, described system comprises: be installed to mooring machinery hand on this mooring facilities, linearly aligned, each mooring machinery hand comprises substrate and at least one sucker, this substrate by with respect to its movably mode be fixed on this mooring facilities, this at least one sucker is moved mechanism's supporting by a mode, thereby (i) can moving, and (ii) can be provided with engage sides with described boats and ships with respect to this mooring facilities

Treater, it receives the information about this position of ship from this sensor, and described treater can calculate move based on the information that is received by this treater, calculating the mobile instruction of the mooring machinery hand that is used for this arrangements,

Controller, it controls this mooring machinery palmistry for the position of this mooring facilities and position relative to each other, and to control the quantity of this mooring machinery hand in this arrangement, the mooring machinery hand in this arrangement is positioned in and sails the boats and ships that come to carry out in the position contacting.

63. a mooring facilities, it comprises as claim 1 or 62 described mooring systems.

64. harbour, it comprises a plurality of mooring machinery hands of locating by linear rank that are installed on the harbour, each mooring machinery hand comprises that the sucker of installing movably with respect to this harbour is to be used to contact and be fixed to the vessel's side of close this harbour, to keep these boats and ships near this harbour, described sucker is a controollable, engage with sailing the boats and ships that come simultaneously to be oriented to be used for, comprise when the side of these boats and ships not exclusively is parallel to this linear rank.

65. harbour, it comprises a plurality of mooring machinery hands of locating by linear rank that are installed on the harbour, each mooring machinery hand comprises that the sucker of installing movably with respect to this harbour is to be used to contact and be fixed to the vessel's side of close this harbour, to keep these boats and ships near this harbour, described sucker is a controollable, engage with sailing the boats and ships that come by asynchronous mode to be oriented to be used for, comprise when the side of these boats and ships not exclusively is parallel to this linear rank.