EP3941818B1

EP3941818B1 - A mooring structure for automatic mooring of a vessel to a quay and a method for mooring

Info

Publication number: EP3941818B1
Application number: EP20712900.8A
Authority: EP
Inventors: Jon HØVIK; Georg-Henden HAFSLUND
Original assignee: MacGregor Norway AS
Current assignee: MacGregor Norway AS
Priority date: 2019-03-18
Filing date: 2020-03-17
Publication date: 2023-03-08
Anticipated expiration: 2040-03-17
Also published as: DK3941818T3; FI3941818T3; PL3941818T3; EP3941818A1; NO20190366A1; NO345182B1; WO2020187887A1

Description

Technical Field:

The present invention relates to a mooring system for automatic mooring of a vessel to one or more bollards in accordance with the preamble of claim 1 and a method thereof.

Background and prior art:

In the last decade there have been a growing focus in the maritime industry to provide vessels with a high degree of autonomy. An example of an autonomous ship is found disclosed in WO 2017/129863 A1 .
However, in order to achieve full autonomy within the maritime industry, the vessel's infrastructure such as mooring to quay structures must also be able to allow partial or full autonomous operations.
Mooring with a high degree of autonomy is known in the art. As an example, WO 2017/167877 A1 discloses a system for automatic mooring of a vessel. The vessel comprises two spaced apart winches with mooring lines and a rigid spreader bar connected between the two mooring lines. A robotic arm transfers the spreader bar from a position on the vessel to a position behind bollards on the quay.
However, such a known mooring solution requires that a large portion of the deck surface area of the vessel has been liberated in order to avoid interference with the mooring procedure, thereby reducing the maximum deck available for infrastructure, equipment or storage. Moreover, the risk of unintentional loss of mooring to the bollards is considered high, in particular during harsh sea conditions.
US 2019/031300 A1 shows a tugboat with a crane am and a bollard located on the deck of the vessel.
US 4729332 A discloses a mooring apparatus comprising a bridle and pear shaped bitting part.
US2011168074 A discloses a portable level responsive mooring device with a mooring strap with a ring capable of engaging a mooring device aoround a dock piling.
KR 20130134838 A discloses a mooring robot arm, and more particularly, to a mooring robot arm installed in a marine terminal or the like for delivering a mooring rope.
JP S6018081 U shows a unit on a quay structure with a mooring loop on a telescopic arm capable of placing the mooring loop onto a bollard on a vessel floating in water.
WO 95/18038 A1 shows a vessel with a crane arm occupying a large sace on the deck of the vessel. The crane arm is for transferring a mooring loop to an external bollard.
JP S56116586 A shows a crane capable of transferring a mooring loop to a bit on a quay.
JP S58136585 A multistep cylinder device comprising computer, transmission and receiving system for mooring a ship to a quay bit.
WO 2020/035632 A1 discloses an apparatus for automated handling of mooring ropes.
JPS6194888 shows another example of an automatic mooring system comprising telescopic arms containing a mooring line with a loop at its end. The arm may be placed at the side of the vessel's hull. This solution solves the problem with deck space mentioned above. However, the maximum allowed distance from vessel to the quay structure, as well as the maximum allowed relative vertical movements, are restricted to be within a reasonable size of the telescopic arms.
It is thus an object of the present invention to provide an automatic mooring system that at least mitigate the above mentioned disadvantages of the prior art.
More particular, it is an object of the present invention to provide a flexible automatic mooring system that may operate successfully under harsh sea conditions while requiring a small portion of the total deck surface area.
Also, it is an object of the present invention to provide a flexible automatic mooring system of practical size that allows stable mooring to bollards on quay structure.

Summary of the invention:

The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.
In a first aspect, the invention concerns a mooring system suitable for mooring a vessel to a quay structure. The mooring system comprises a mooring line having a mooring line end and an attachment system suitable for retrievable attachment to a bollard. The attachment system comprises a mooring loop, also denoted as a rope eye, having an opening with a minimum size being sufficient to allow the bollard to enter at least partly there through and a mooring line connector, also denoted as a sleeve, connecting the mooring loop to the mooring line end.
If the bollard is shaped as a vertical extending protrusion from the quay structure with a bollard column and a bollard head having a larger cross section than the bollard column when seen from above, the minimum opening size of the mooring loop may be in the range between the cross section area of the bollard column and the cross section area of the bollard head. However, the minimum opening size in an alternative embodiment be larger than the cross section area of the bollard head when seen from above.
The mooring loop has a breaking load of more than 80 kN at 298 K
Furthermore, the mooring loop is configured such that the mooring loop regains its initial shape after having been exposed for a load of more than 30 kN at 298 K.
The mooring line connector preferably surrounds the splice between the mooring loop and the mooring line end. Furthermore, the mooring line connector may comprise a plurality of mooring line connector parts, thereby allowing easy removal from the splice. The mooring line connector may be made of plastic, metal or a combination thereof.
In an exemplary configuration, at least a part of the mooring line connector, and preferably the entire mooring line connector, has magnetic properties. Furthermore, the attachment system such as the mooring line connector may comprise a receiver and/or transmitter for allowing receival of positional information signals from a remote sensor system and/or allowing transmission of wireless activation signals from a remote-control system.
The shape of the mooring line connector may be of any form such as a cylinder with a circular or elliptical cross section,or having a cuboid form. However, in a preferred configuration, the mooring line connector is designed with a guiding structure for allowing positional guidance of an external gripper assembly having a complementary guiding structure such as mirror designs. For example, it the mooring line connector is designed with one or more protrusions, the external gripper assembly may comprise complementary recesses having shape and sizes that ensure tight fit entrance of the protrusions. Another example is a gripper assembly having a wedge form that enters a complementary mirrored wedge profile on the mooring line connector.
In general, the mooring line connector should be configured in order to allow easy gripping by a gripper connector such as a magnet and/or a claw and/or a hook.
According to the invention, the attachment system comprises a resilient material extending along at least a part of the length set up by the mooring loop, preferably more than 30 % of the length, more preferably more than 50 %, for example the entire length. Furthermore, the resilient material may comprise an inner resilient core. This inner resilient core may be located in the radial centre of the line setting up the mooring loop or off-centred or a combination thereof
The resilient material will provide a form-stable mooring loop that regains its initial shape after being exposed for typical mooring loads.
The mooring loop may for example be a braided line comprising a plurality of strands. In that case, the resilient material may be located in the center of the braided line.
The resilient material may alternatively or in addition comprise an outer element, for example in form of a fork being attached at one end to the mooring line connector.
In another exemplary configuration, the attachment system further comprises an outer sheet or band covering at least partly the resilient material in order to inter alia make a tight lashing. The purpose of the outer sheet is inter alia to maintain close contact between the resilient material and the remaining part of the mooring loop to keep the assembly in place. The outer sheet is preferably made of a non-resilient material.
The outer sheet or band may also cover the splice between the mooring loop and the mooring line end.
In a second aspect, the invention concerns a mooring system of the above mentioned purpose comprising a mooring line having a mooring line end and an attachment system suitable for retrievable attachment to a bollard, wherein the attachment system comprises a mooring loop having an opening with a minimum size being sufficient to allow the bollard to enter at least partly there though and a mooring line connector connecting the mooring loop to the mooring line end, a winch for winching the mooring line, wherein a second mooring line end of the mooring line is attached to the winch, and a robotic arm comprising an outer robotic arm section with a gripper assembly at a first longitudinal end, wherein the gripper assembly is configured to releasably grip the mooring line connector to allow transfer of the attachment system from one location to another. The mooring loop has a breaking load and an elasticity as described above for the first aspect.
According to the invention, the gripper assembly is rotatable / pivotable relative to the outer robotic arm section.
The gripper assembly may comprise a first rotary device rotatably fixed to the first longitudinal end of the outer robotic arm section, a second rotary device rotatably fixed to the first rotary device with an axis of rotation different, preferably perpendicular, to the axis of rotation of the first rotary device and a gripper connector rotatably fixed to the second rotary device with an axis of rotation different, preferably perpendicular, to the axis of rotation of the second rotary device. The gripper connector may comprise at least of a magnet, a gripper claw and / or a hook
In another exemplary configuration, the robotic arm further comprises a deck base suitable for connection to a deck of a vessel, a robotic arm base rotatably fixed to the deck base and a first robotic arm section rotatably fixed at a first longitudinal end to the robotic arm base by at least one swivel, wherein the first robotic arm section has an axis of rotation different, preferably perpendicular, to the axis of rotation of the robotic arm base and wherein a second longitudinal end of the outer robotic arm section is rotatably fixed at least indirectly to a second longitudinal end of the first robotic arm section by at least one swivel.
The robotic arm may further comprise a second robotic arm section having a first longitudinal end rotatably fixed to the second longitudinal end of the first robotic arm section by at least one swivel and a second longitudinal end rotatably fixed at least indirectly to the second longitudinal end of the outer robotic arm section by at least one swivel.
Furthermore, the robotic arm may comprise a third robotic arm section fixed at a first longitudinal end with a non-zero inclination angle, for example 90°, to the second longitudinal end of the first and/or second robotic arm section.
The robotic arm may also comprise a fourth robotic arm section rotatably fixed at a first longitudinal end to a second longitudinal end of the third robotic arm section and rotatably fixed at least indirectly to the second longitudinal end of the outer robotic arm section. The above mentioned third robotic arm section may also, or alternatively, be fixed at the first longitudinal end with a non-zero inclination angle, for example 90°, to the second longitudinal end of the fourth robotic arm. The second longitudinal end of the third robotic arm section is in this configuration fixed at least indirectly to the outer robotic arm section.
In a third aspect, the invention concerns a method for automatic mooring of a vessel to one or more bollards on a structure such as a quay structure using a mooring system.
The mooring system comprising a sensor system suitable for sensoring position and size of objects within a predetermined distance range, a mooring line comprising a first and a second mooring line end, an attachment system suitable for retrievable attachment to a bollard. The attachment system comprises a mooring loop having an opening with a size sufficiently large to allow the bollard to enter there though and a mooring line connector connecting the mooring loop to the first mooring line end. The predetermined distance range may for example be up to 100 meters, more preferably up to 50 meters, even more preferably up to 25 meters, for example 10 meters.
The mooring system further comprises a winch suitable for winching the mooring line and a robotic arm. The robotic arm comprises a deck base fixed to an underlying structure and an outer robotic arm section having a gripper assembly rotatably fixed at a first longitudinal end of the outer robotic arm section. The deck base is further rotatably fixed at least indirectly to a second longitudinal end of the outer robotic arm section, for example via one or more rotatably and/or inclinedly fixed robotic arm sections. At least one of the robotic arm sections may be telescopic. Further, the second mooring line end of the mooring line is at least indirectly attached to the winch.
The method comprises the following steps:

A. manoeuvring the outer robotic arm section by operating at least one swivel located between the deck base and the outer robotic arm section to a position where the gripper assembly is arranged adjacent to the attachment system, preferably adjacent to the mooring line connector,
B. releasably attaching the gripper assembly to the mooring line connector,
C. manoeuvring the outer robotic arm section with the attached mooring line connector and the mooring loop to a mooring location adjacent to a bollard,
D. guiding the mooring loop by operating at least one rotary device of the gripper assembly such that the mooring loop surrounds / entangles at least part of the bollard,
E. disattaching the gripper assembly from the mooring line connector and
F. operating the winch to tighten up the mooring line between the winch and the bollard.

At least one, preferably all, of the steps may be activated and controlled based on positional data collected by the sensor system, for example all of the steps.
Steps E and F may be made in sequence or simultaneously.
The mooring system used in the method may be in accordance with any of the characteristics described above.
The steps B and E may be achieved by operating at least one electromagnet constituting part of the gripper assembly and/or the mooring line connector.
The sensor system, the attachment system, the winch and/or the robotic arm may comprise transmitting means / device allowing wireless communication with a data processing apparatus configured to perform at least one of steps A-F.
In order to automatically remove the mooring of the vessel from the one or more bollards on the structure, the following steps may be performed:

G. manoeuvring the outer robotic arm section by operating the at least one swivel located between the deck base and the outer robotic arm section to a position where the gripper assembly is arranged adjacent to the mooring line connector,
H. operating the winch to loosen the mooring line attached between the winch and the bollard,
I. attaching the gripper assembly to the mooring line connector,
J. guiding the mooring loop by operating at least one rotary device of the gripper assembly such that the mooring loop is disentangled from the bollard,
K. manoeuvring the outer robotic arm section with the attached mooring line connector and the mooring loop to a location above the vessel and
L. disattaching the gripper assembly from the mooring line connector.

Note that steps G and H may be reversed or performed simultaneously. Step H may also be performed simultaneously with step I. Further, step K may also be performed simultaneously with step L or subsequently.
In a fourth aspect, the invention concerns a data processing apparatus comprising a processor configured to perform the above mentioned steps A-F and/or the above mentioned steps G-L.
In a fifth aspect, the invention concerns a vessel comprising a plurality of mooring system as described above.
In an alternative or additional configuration the manoeuvring of the robotic arm may be achieved by use of one or more telescopic robotic arm sections. For example, the outer robotic arm section may be telescopic in order to achieve additional manoeuvrability.

Brief description of the drawings:

Figs. 1 (A) and (B) illustrate a vessel from the side and from the top, respectively, having a plurality of robotic arms forming part of an automatic mooring system in accordance with the invention.
Figs. 2 (A) and (B) illustrate an aft portion and a bow portion, respectively, of the vessel in Figs. 1, both portions comprising a mooring winch system for winching mooring lines.
Figs. 3 (A), (B) and (C) illustrates examples of prior art mooring winches that may be used in the automatic mooring system.
Figs. 4 (A) and (B) illustrate a bow portion and an aft portion, respectively, of a vessel comprising a mooring system in accordance with the invention with a robotic arm arranged in a folded position on a deck of a vessel.
Figs. 5 (A), (B), (C), (D), (E) and (F) illustrate in different perspective views a method in accordance with the invention for attaching a rope eye of the mooring line around a bollard by use of the robotic arm of Figs. 4.
Figs. 6 (A), (B), (C) and (D) illustrate in detail two alternative ways of placing a rope eye around a bollard on a quay structure by use of the robotic arm of Figs. 4 and 5, where Figs. 6 (A) and (B) and Figs. 6 (C) and (D) shows placement of the rope eye by the robotic arm when approaching the bollard from opposite angles.
Figs. 7 (A), (B) and (C) illustrate in different perspective views a method in accordance with the invention for attaching a rope eye of the mooring line around a bollard by use of a robotic arm.
Fig. 8 illustrates the detection areas of a sensor system attached to a robotic arm, where both the sensory system and the robotic arm constitute parts of the mooring system in accordance with the invention.
Figs. 9 (A) and (B) illustrates in perspective a first embodiment of an attachment system constituting part of the mooring system in accordance with the invention, where the attachment system comprises an elastic rope eye and a sheave attached to the splice of the rope eye.
Figs. 10 (A)-(I) illustrate radial cross-sectional views of a mooring loop of the elastic mooring loop according to nine different configurations.
Figs. 11 (A) and (B) illustrates in perspective a second embodiment of an attachment system constituting part of a mooring system in accordance with the invention, wherein the attachment system comprising an elastic rope eye and a sheave attached behind the splice of the rope eye or wherein the sheave is located in front of the splice (B)
Figs. 12 (A) and (B) illustrate perspective views of a third and fourth embodiment, respectively, of an attachment system constituting part of a mooring system in accordance with the invention, wherein the attachment system comprises an elastic rope eye and a sheave attached to the splice of the rope eye.
Figs. 13 (A), (B) and (C) illustrate perspective views of attachment systems constituting part of a mooring system in accordance with the invention, with different magnetic sheaves at the splice of the rope eye and a corresponding magnetic gripper connector at a robotic arm end.
Fig. 14 illustrates a mooring line end shown from the side, wherein the gripper connector at the end of the robotic arm comprises a controllable electromagnet magnet.
Fig. 15 illustrate in perspective an embodiment of the gripper connector and the attachment system wherein the gripper connector is a gripper claw.

Detailed description of the invention

In the following, specific embodiments of the invention will be described in more detail with reference to the drawings. However, the invention is not limited to the embodiments and illustrations contained herein. It is specifically intended that the invention includes modified forms of the embodiments, including portions of the embodiments and combinations of elements of different embodiments. It should be appreciated that in the development of any actual implementation, as in any engineering or design project, specific decisions must be made to achieve the developer's specific goals, such as compliance with system and/or business related constraints. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication and manufacture for the skilled person having the benefit of this disclosure.
Figs. 1-4 show an embodiment of a vessel 100 comprising a hull 101, a deck 101, a deck structure 103 and a mooring system according to the invention.
The hull 101 has a bow part 104, an aft part 105 and a mid-part. The deck structure 103 is herein defined as any physical obstacles arranged onto the deck 101 that is not directly involved in the mooring operation and may include both fixed structures such as the deck infrastructure and removable products such as non-mooring related equipment and/or containers.
The mooring system according to the invention includes a winch 11 having a winch motor 11b and a mooring line 10 being winched onto the winch's drum 11a.
The mooring system further comprises one or more robotic arms 200 fixed to the vessel's deck 102 and/or the vessel's hull 101 (see fig 4).
A gripper connector 213c at an end 213 of each robotic arm 200 is configured to grab the mooring line 10 near one of its ends 10a without the need of human intervention and to subsequently transfer the mooring line end 10a between a location near the winch 11 and any location within a certain distance from the winch 11, for example within 30 meters, 25 meters, 20 meters 15 meters, 10 meters or 5 meters.
The mooring system may include a database with GPS positions to a number of bollards and/or other structures that may be relevant for mooring the vessel in question.
During transfer, the mooring line 10 may be guided via fairleads 106 arranged within the hull 101 and/or separate mooring line guides 12 arranged on the deck 102. The latter may for example be drums adapted for changing the direction of the mooring line 10 somewhere between the winch 11 and the fairlead 106.
As best illustrated in figs. 9-14, the mooring line 10 further includes a rope eye 22 attached to the end 10a of the mooring line 10 via a sheave 21 or a rope eye connector 21. The gripper connector 213c and the sheave 21 are mutually designed to ensure a stable, releasable coupling. One example is shown in fig. 14 where an electromagnet 213c2 and a permanent magnet 21 is used. However, other fixing means such as hooks may also be envisaged.
If the mooring line 10 and the rope eye 22 are formed by a common fibre rope, the sheave 21 may be arranged so that it covers at least partly, preferably fully, the fibre rope splice.
As shown in fig. 13 the design of the gripper connector 213c and the sheave 21 may also include particular guiding structures to ensure a reliable alignment there between.
Figs. 13 A and C show examples where wedged protrusions 21a on the sheave 21 form tight fits when inserted into corresponding wedged recesses 213d in the gripper connector 213c.
Further, fig. 13 B shows another example using several pointed protrusions 21a on the sheave 21 forming tight fits within corresponding recesses 213d in the gripper connector 213c.
A skilled person will understand that the particular configuration of the sheave 21 and the gripper connector 213c for aiding the coupling and the guiding process may vary while still achieving the purpose of stable and easy alignable coupling. For example, the electromagnet 213c2 and the permanent magnet 21 shown in fig. 14 may be interchanged so that electromagnet 213c2 forms part of the sheave 21 instead of the gripper connector 213c. A combination is also possible.
Similar interchange or partial interchange may be performed for the protruding structures 21a and the recess structures 213c1.
To facilitate automatic mooring of the rope eye 22 around the bollard 2, the rope eye 22 is made elastic, meaning that its initial shape is regained after having been exposed for a load typical for mooring of vessels. According to the invention, the rope eye 22 regains the initial shape after being exposed for a load of more than 30 kN for at least 1 hour, preferably for a load of more than 50 kN within the same time period.
Various examples of a rope eye 22 with the desired elastic properties are shown in figs. 9-12.
Fig. 9 A and B shows a fibre rope eye 22 which is partly or fully surrounded by a fork shaped resilient structure 22a. The resilient fork is attached at one end to the sheave 21. As shown in fig. 9 B a stable coupling between the fibre rope eye 22 and the resilient outer element 22a may be achieved by an outer sheet or rope 22b wrapped around the outer element 22a and the fibre rope eye 22.
Fig. 10 A-I shows different configurations of a resilient structure 22a, where fig. 10 A-C shows the resilient structure 22a arranged in contact with the fibre rope eye 22 and kept in place by an outer sheet 22b, fig. 10 D-F shows the resilient structure arranged in the centre of the fibre rope eye 22 and fig. 10 G-I shows the resilient structure within the fibre rope eye 22 but with an offset from the centre, and with a stiffening structure to the side.
Fig. 11 A and B shows an example where the material of the rope eye 22 it selves gives the desired elastic properties. 11 B gives examples on the shape of 22a.
Fig. 12 A shows in perspective the rope eye 22 with an inner core 22a as in fig. 10, where the outer sheet 22b is also acting as an additional bend stiffener, for example by use of a metallic band.
Fig. 12 B shows an example of two elastic tubes surrounding the fibre rope eye 22 around the loop, either fully or partly.
Figs. 4 and 5 shows an exemplary embodiment of a robotic arm 200 forming part of the mooring system being fixed on the deck 102 at the right corner of the vessel's aft portion 105. As is apparent from fig. 4A, the deck structure 103 includes a high number of obstacles, thereby reducing the possible manoeuvrability space of the robotic arm 200 significantly.
To ensure high position degree of freedom, the robotic arm 200 may be equipped with a plurality of robotic arm sections 204,206,211, where at least some of the sections are movable relative to each other.
In one particular embodiment shown in the figures the robotic arm 200 comprises a total of three robotic arm sections 204,206, 211 which are interlinked in the following manner:

a deck base 201 in the form of a cylinder is fixed to the vessel's deck 102,
a robotic arm base 202 in the form of a fork is rotatably fixed to the deck base 102 via a deck swivel 203 such that the rotational axis of the robotic arm base 202 is perpendicular to the deck floor at and in the vicinity of the deck base 201,
an end of the inner robotic arm section 204 is pivotably fixed to the robotic arm base 202 via a robotic arm base swivel 205 such that the rotation axis of the section 204 is parallel to the deck floor at and in the vicinity of the deck base 201,
an end of the second robotic arm section 206 is rotatably fixed to the other end of the inner robotic arm section 204 via a third swivel 207 such that both the longitudinal direction and the rotational axis of the section 206 are aligned with the longitudinal direction of the inner section 204,
an end of the outer robotic arm section 211 is rotatably fixed to the other end of the second section 206 via a fourth swivel 210 such that the longitudinal direction of the outer section 211 is aligned, but oppositely directed, to the second section 206, and the rotation axis of the outer section 211 is parallel to the rotational axis of the second section 206.

In another particular embodiment shown in the figures the robotic arm 200 comprises a total of five robotic arm sections 204,206,208,209,211 which are interlinked in the following manner:

a deck base 201 in the form of a cylinder is fixed to the vessel's deck 102,
a robotic arm base 202 in the form of a fork is rotatably fixed to the deck base 102 via a deck swivel 203 such that the rotational axis of the robotic arm base 202 is perpendicular to the deck floor at and in the vicinity of the deck base 201,
an end of the inner robotic arm section 204 is pivotably fixed to the robotic arm base 202 via a robotic arm base swivel 205 such that the rotation axis of the section 204 is parallel to the deck floor at and in the vicinity of the deck base 201,
an end of the second robotic arm section 206 is rotatably fixed to the other end of the inner robotic arm section 204 via a third swivel 207 such that both the longitudinal direction and the rotational axis of the section 206 are aligned with the longitudinal direction of the inner section 204,
an end of the third robotic arm section 208 is arranged perpendicularly to the other end of the second section 206, either as a separate third section 208 or as a section integral with the second section 206,
an end of the fourth robotic arm section 209 is rotatably fixed to the other end of the third section 208 via a fourth swivel 210 such that the longitudinal direction of the fourth section 209 is perpendicular to the longitudinal direction of the third section 208 and the rotational axis of the fourth section 209 is aligned with the longitudinal direction of the third section 208 and
an end of the outer robotic arm section 211 is rotatably fixed to the other end of the fourth section 209 via a fifth swivel 212 such that the longitudinal direction of the outer section 211 is aligned, but oppositely directed, to the fourth section 209, and the rotation axis of the outer section 211 is parallel to the rotational axis of the fourth section 209.

Note that the above mentioned configurations of the robotic arm 200 is only two of many exemplary configurations that allows high degree of movements despite of relatively complex deck structure 103. A skilled person understands that modifications such as changing the number of robotic arm sections, the direction of axis of rotations, the relative direction of the sections and the section lengths are possible without departing from the stated purpose of the invention.
As best shown in fig. 4B, 6 and 7, the other end of the outer section 211 may constitute a gripper assembly 213 comprising

an inner rotary device 213a having an axis of rotation aligned along the longitudinal direction of the outer section 211,
a mid-rotary device 213b having an axis of rotation perpendicular to the axis of rotation of the inner rotary device 213a and
a gripper connector 213c comprising an outer rotary device having an axis of rotation perpendicular to the axes of rotation of both the inner and the mid rotary devices 213a,213b.

As mentioned above, the gripper assembly 213 is generally configured to enable releasable gripping of the sheave 21 arranged between the rope eye 22 and the end 10a of the mooring line 10. Furthermore, the gripper assembly 213 is, in cooperation with the robotic arm sections, generally configured to manoeuvre the rope eye 22 around a mooring structure such as a bollard 2 on a quay 1. Hence, the configuration of the gripper assembly 213 may be modified with respect to inter alia the number of rotary devices, the axes of rotations and the component sizes, without departing from the stated purpose.
Moreover, all or some of the rotating means on the robotic arm 200 such as the swivels 203,205,207,210,212 and/or rotary devices 213a,213b,213c may be configured to allow controllable rotation speed, for example by use of electromotors and/or meshing gears.
The mooring system also comprises a sensor system 30 configured to detect the surrounding structure. In the embodiment shown in figs. 7 and 8, a sensor camera 30a constituting a part of the sensor system 30 is arranged on the mid rotary device 213b, thereby enabling detection of an area in the vicinity of the gripper assembly 213. Hence, mooring structures such as bollards 2 may be detected and analysed with respect to position and size.
In general, the sensor system 30 may comprise a plurality of sensor components distributed on the mooring system in order to ensure detection and analyses of the surrounding environment and thereby allowing a successful mooring with little or no need of human intervention. For example, such sensor components may be arranged on each or some of the robotic arm sections, as well as on the gripper assembly 213. Sensor components on other parts of the vessel 100 such as on winches 11, fairleads 106, mooring line guides 12, deck structure 103, etc, may be envisaged in order to further aid the positioning of the robotic arm 200 and/or the mooring line 10 and/or the rope eye 22.
Fig. 8 shows a sensoring area 31 set up by at least part of the sensor system 30, within which any structure such as bollards 2 may be detected and analysed with respect to position and size.
With reference to fig. 4 B, fig. 5 A-E, fig. 6 A-D and fig. 7 A, B and C, the different steps to ensure a successful mooring of a vessel 100 to a quay 1 may proceed as follows:

The swivels 203,205,207,210 of the robotic arm 200 is operated to move the gripper assembly 213 at the end of the outer section 211 from a parked position (see fig. 4) to a position adjacent to the sheave 21 between the rope eye 22 and the mooring line end 10a. The sensor system 30 may be used to detect e.g. deck structures 103 not registered in the database and/or to verify correct entry in such database, thereby allowing the robotic arm 200 to make necessary movements to avoid undesired impacts. The sensor system 30 may also be used to locate the exact location of the sheave 21.
If needed, one or more of the rotary devices 213a,213b,213c are operated to perform further adjustment of the position relative to the sheave 21 to ensure that the gripper connector 213c is close enough, and in a favourable orientation, to allow releasable coupling with the sheave 21.
The releasable coupling is established, for example by activating an electromagnet or operating a claw.
The swivels 203,205,207,210 of the robotic arm 200 is operated to transport the rope eye 22, the sheave 22 and the mooring line end 10a to a position adj acent a bollard 2 on the quay 1 (see fig. 5 C and D). As for step 1, the sensor system 30 may be used to detect the position and the size of the bollard 2 to enable mooring and/or to detect the positions and the sizes other type of obstacles such that the robotic arm 200 may make necessary adjustments to avoid undesired impacts.
One or more of the rotary devices 213a,213b,213c and/or one or more swivels 203,205,207,210 are operated to guide the rope eye 22 around the bollard 2 (see fig. 5 C-F, fig 6 A-D and fig. 7 A, B and C). For example, the mutual operation of the swivels 203,205,207,210 and the rotary devices 213a,213b,213c may first align the rope eye 22 until the opening is facing the side of the bollard 2 (see fig. 5 D and fig. 6 A), then guide the rope eye 22 around the bollard 2 by translational and/or rotational movement towards the bollard 2. In an alternative procedure, the rope eye 22 may be position directly above the bollard 2 with its opening facing down towards the top of the bollard 2 (see fig. 7 A, B and C), followed by a substantially translation movement of the rope eye 22 downwards.
The coupling between the gripper connector 213c and the sheave 21 is released, for example by sending a signal to the electromagnet or by opening the claw.
The swivels 203,205,207,210 is operated to move the robotic arm 200 back to its parked position on the deck 102 (see fig. 4) or at the hull 101.

It is appreciated that certain features of the invention, which, for clarity, have been described above in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which, for brevity, have been described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination.

List of reference numerals / letters:

1	Quay /quay structure
2	Bollard
10	Mooring line
10a	Mooring line end
11	Winch for mooring line
11a	Drum

11b	Winch motor
12	Mooring line guide
20	Attachment system at mooring line end
21	Mooring line connector / mooring line magnet / sheave / rope eye connector
21a	Guiding structure of mooring line connector
22	Mooring loop / rope eye
22a	Resilient structure / resilient fork / inner core / outer element
22b	Outer sheet / outer rope / bend stiffener
22c	Stiffening structure
30	Sensor system for detecting and analysing surrounding structure.
30a	Sensor camera
31	Sensoring area of sensor system
100	Vessel
101	Hull
102	Deck
103	Deck structure / underlying structure
104	Bow part of vessel
105	Aft part of vessel
106	Chock / fairlead
200	Robotic arm / manipulator arm
201	Deck base
202	Fork shaped structure / fork / robotic arm base
203	First swivel between deck base and fork base, deck swivel
204	First robotic arm section / inner robotic arm section
205	Second swivel between fork base and first robotic arm section / robotic arm base swivel
206	Second robotic arm section rotationally arranged relative to first robotic arm
207	Third swivel between first robotic arm section and second robotic arm section
210	Fourth swivel between third robotic arm section and fourth robotic arm section
211	Outer robotic arm section rotationally arranged relative to the fourth robotic arm section
213	Robotic arm end / gripper assembly
213a	First rotary device with an axis of rotation along the longitudinal direction of the outer robotic arm section / inner rotary device
213b	Second rotary device with an axis of rotation perpendicular to the axis of rotation of the first rotary device
213c	Gripper connector having a third rotary device with an axis of rotation perpendicular to the axes of rotation of the first and second rotary device for releasable coupling to mooring connector / gripper magnet
213c1	Guiding structure of gripper connector
213c2	Connector coil in gripper electromagnet

Claims

A mooring system for automatic mooring of a vessel (100) to a quay structure (1) comprising
- a mooring line (10) comprising a first mooring line end (10a) and a second mooring line end,

- an attachment system (20) for retrievable attachment to a bollard (2) on the quay structure (1), the attachment system (20) comprising
a mooring loop (22) having a minimum opening size sufficient to allow the bollard (2) to enter therethrough, and a mooring line connector (21) connecting the mooring loop (22) to the first mooring line end (10a) and

a resilient material (22a) extending along at least a part of the length set up by the mooring loop (22),

- a winch (11) for winching the mooring line (10), wherein the second mooring line end of the mooring line (10) is at least indirectly attached to the winch (11) and

- a robotic arm (200) comprising an outer robotic arm section (211) with a gripper assembly (213) at a first longitudinal end, wherein the gripper assembly (213) is configured to releasably grip the mooring line connector (21) to allow transfer of the attachment system (20) from one location to another,
characterized in that the gripper assembly (213) comprises a first rotary device (213a) rotatably fixed to the first longitudinal end of the outer robotic arm section (211) and a second rotary device (213b) rotatably fixed to the first rotary device (213a) with an axis of rotation different to the axis of rotation of the first rotary device (213a),

and further in that the mooring loop (22) has a breaking load of more than 80 kN at 298 K and is configured such that the mooring loop (22) regains its initial shape after removal of a load of more than 30 kN at 298 K to which it has been exposed for at least 1 hour.
The mooring system in accordance with claim 1, characterized in that at least a part of the mooring line connector (21) is a magnetic material.
The mooring system in accordance with claim 1 or 2, characterized in that the attachment system (20) further comprises at least one of a receiver and a transmitter for allowing wireless communication of positional information with a remote sensor system (30).
The mooring system in accordance with any of the preceding claims, characterized in that the resilient material (22a) comprises an inner resilient core.
The mooring system in accordance with claim 4, characterized in that the resilient material (22a) comprises an outer element.
The mooring system in accordance with claim 5, characterized in that the outer element (22a) comprises two rods attached to the mooring line connector (21), wherein the two rods are configured to contact the exterior surface of the mooring loop (22).
The mooring system in accordance with any one of claims 4 to 6, characterized in that the attachment system (20) further comprises an outer non-resilient sheet (22b) covering at least partly the resilient material (22a).
The mooring system in accordance with any one of the preceding claims, characterized in that the gripper assembly (213) is rotatable relative to the outer robotic arm section (211).
The mooring system in accordance with any one of the preceding claims, characterized in that the gripper assembly (213) further comprises
- a gripper connector (213c) rotatably fixed to the second rotary device (213b) with an axis of rotation different to the axis of rotation of the second rotary device (213b).
The mooring system in accordance with claim 9, characterized in that the gripper connector (213c) comprises at least one of
- a magnet,

- a gripper claw, and / or

- a hook.
The mooring system in accordance with any one of the preceding claims, characterized in that the robotic arm (200) further comprises
- a deck base (201) for connection to a deck (102) of a vessel (100),

- a robotic arm base (202) rotatably fixed to the deck base (201) and

- a first robotic arm section (204) rotatably fixed at a first longitudinal end to the robotic arm base (202) by at least one swivel (203,205),
wherein the first robotic arm section (204) has an axis of rotation different to the axis of rotation of the robotic arm base (202) and

wherein a second longitudinal end of the outer robotic arm section (211) is rotatably fixed at least indirectly to a second longitudinal end of the first robotic arm section (204) by at least one swivel (207,210).
The mooring system in accordance with claim 11, characterized in that the robotic arm (200) further comprises
- a second robotic arm section (206) having
a first longitudinal end rotatably fixed to the second longitudinal end of the first robotic arm section (204) by at least one swivel (207) and

a second longitudinal end rotatably fixed at least indirectly to the second longitudinal end of the outer robotic arm (211) by at least one swivel (210).
A method for automatic mooring of a vessel (100) to one or more bollards (2) on a quay structure (1) using a mooring system in accordance with any one of claims 1-12, wherein the robotic arm (200) further comprises a deck base (201) connected to a deck (102) of a vessel (100), a robotic arm base (202) rotatably fixed to the deck base (201) and a first robotic arm section (204) rotatably fixed at a first longitudinal end to the robotic arm base (202) by at least one swivel (203,205), the first robotic arm section (204) having an axis of rotation different to the axis of rotation of the robotic arm base (202) and a second longitudinal end of the outer robotic arm section (211) being rotatably fixed at least indirectly to a second longitudinal end of the first robotic arm section (204) by at least one swivel (207,210),
and wherein the mooring system further comprises a sensor system (30) for sensoring position and size of objects within a predetermined distance range,

the method comprising the following steps:
A. manoeuvring the outer robotic arm section (211) by operating at least one swivel (203,205,207,210) located between the deck base (201) and the outer robotic arm section (211) to a position where the gripper assembly (213) is arranged adjacent to the attachment system (20),

B. releasably attaching the gripper assembly (213) to the mooring line connector (21),

C. manoeuvring the outer robotic arm section (211) with the attachment system (20) to a mooring location adjacent to a bollard (2) on the quay structure (1),

D. guiding the mooring loop (22) by operating at least one rotary device (213a,213b,213c) of the gripper assembly (13) or at least one swivel (203,205,207,210) or a combination thereof such that the mooring loop (22) surrounds at least part of the bollard (2),

E. disattaching the gripper assembly (213) from the attachment system (20), and

F. operating the winch (11) to tighten up the mooring line (10) between the winch (11) and the bollard (2),
wherein at least one of the steps are activated and/or controlled based on positional data collected by the sensor system (30).
The method in accordance with claim 13, characterized in that the steps B and E are achieved by operating at least one electromagnet constituting part of the gripper assembly (213) or the mooring line connector (21) or a combination thereof.
The method in accordance with claim 13 or 14, characterized in that at least one of the sensor system (30), the attachment system (20), the winch (11) and the robotic arm (200) comprise transmitting means allowing wireless communication with a data processing apparatus configured to perform the steps A-F.
A data processing apparatus comprising a processor configured to perform the steps A-F of any one of claim 13 to 15.