EP3941819B1 - Schiff mit einem festmachsystem zum automatischen festmachen an einem poller und verfahren zum festmachen - Google Patents

Schiff mit einem festmachsystem zum automatischen festmachen an einem poller und verfahren zum festmachen Download PDF

Info

Publication number
EP3941819B1
EP3941819B1 EP20712901.6A EP20712901A EP3941819B1 EP 3941819 B1 EP3941819 B1 EP 3941819B1 EP 20712901 A EP20712901 A EP 20712901A EP 3941819 B1 EP3941819 B1 EP 3941819B1
Authority
EP
European Patent Office
Prior art keywords
bollard
vessel
mooring
rope
mooring line
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20712901.6A
Other languages
English (en)
French (fr)
Other versions
EP3941819A1 (de
Inventor
Jon HØVIK
Even UGLAND
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MacGregor Norway AS
Original Assignee
MacGregor Norway AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MacGregor Norway AS filed Critical MacGregor Norway AS
Publication of EP3941819A1 publication Critical patent/EP3941819A1/de
Application granted granted Critical
Publication of EP3941819B1 publication Critical patent/EP3941819B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B63B21/06—Bollards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/02—Magnetic mooring equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/16—Tying-up; Shifting, towing, or pushing equipment; Anchoring using winches
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
    • E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B63B2021/203—Mooring cables or ropes, hawsers, or the like; Adaptations thereof

Definitions

  • the present invention relates to a vessel having a mooring system for automatic mooring to one or more bollards in accordance with the preamble of claim 1 and a method for use thereof.
  • the vessel's infrastructure such as mooring to quay structures must also be able to allow partial or full autonomous operations.
  • 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.
  • 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.
  • JP S6193392U shows a rotational bollard fixed to a hull on an axle and a second bollard variant which is fixed parallel to a hull.
  • JP S574491A shows an automatic mooring method where a bollard is fixed to a hull and a mooring line is fixed to a movable arm located on a quay stricture.
  • US 2019/031300 A1 shows a tugboat with a crane am and a bollard located on the deck of the vessel.
  • 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 S6018081U 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.
  • 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.
  • 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.
  • the invention concerns a vessel comprising a hull for floating in a body of water and at least one rope-parking bollard, and preferably a plurality of rope-parking bollards, wherein each bollard comprises a bollard column having a proximal longitudinal end and a distal longitudinal end.
  • the rope-parking bollard further comprises a bollard head arranged at the distal longitudinal end of the bollard column, wherein the cross-sectional area of the bollard head oriented perpendicular to the longitudinal direction of the bollard column is larger than the corresponding cross sectional area of the bollard column.
  • the term 'corresponding cross-sectional area of the bollard column' signifies herein a cross-sectional area oriented parallel to the cross-sectional area of the bollard head.
  • the rope-parking bollard is fixed to the vessel's hull at the proximal longitudinal end of the bollard column.
  • At least one rope-parking bollard has a bollard head protruding from the hull external side. Further, the longitudinal direction of the bollard column may be perpendicular to the hull side.
  • One or more bends may be present on the bollard column along the longitudinal direction between the proximal end and the distal end.
  • the proximal longitudinal end of the bollard column fixed into a hull recess formed within the side of the hull.
  • the hull recess may have a depth into the side of the hull which is at least 20 % of the length of the bollard column along its longitudinal direction, more preferably a depth of at least 30 %, even more preferably at least 50 %, even more preferably at least 70 %, for example 100 % of the length of the bollard column along its longitudinal direction.
  • At least one the rope-parking bollard may further comprise a bollard transmission / communication system comprising a receiver, transmitter and/or a transceiver, thereby allowing wireless communication with a remote-control system.
  • a bollard transmission / communication system comprising a receiver, transmitter and/or a transceiver, thereby allowing wireless communication with a remote-control system.
  • the bollard may transmit a signal to the remote control system when an attachment system of a vessel's mooring system has established a stable and releasable attachment with the rope-parking bollard and/or has been successfully released from the bollard.
  • the vessel may further comprise a mooring line with a mooring line end and an attachment system fixed to the mooring line end, wherein the attachment system is configured to allow releasable attachment to the rope-parking bollard.
  • the attachment system may further comprise a mooring loop, wherein the minimum size of the opening of the mooring loop is sufficient to allow the bollard head to enter there through, and a mooring line connector connecting the mooring loop to the mooring line end
  • the mooring line may be winched by at least one winch constituting part of the vessel.
  • a second mooring line end of the mooring line is in this configuration at least indirectly attached to the winch.
  • the vessel may further comprise at least one robotic arm, and preferably a plurality of robotic arms.
  • Such a robot arm comprises a robotic arm section, or in case of several arm section an outer robotic arm section, with a gripper assembly at a first longitudinal end.
  • the gripper assembly may be configured to releasably grip the mooring line connector to allow transfer of the attachment system from one location to another
  • Such a gripper assembly is preferably rotatable / pivotable relative to the robotic arm section.
  • a versatile and rotatable / pivotable gripper assembly it may comprise
  • At least one, and preferably all, of the rope-parking bollards are placed within a maximum extent of the robotic arm, i.e. the extent corresponding to the configuration where all arm sections of the robotic arm are pivoted relative to each other such that they are aligned along a common longitudinal axis.
  • the majority of the rope-parking bollards are within 80 % of the maximum extent.
  • the vessel comprises an object sensor system for sensing the position and size of objects within a predetermined distance range, for example objects on quay and/or on deck.
  • the object sensor system may for example be placed on the robotic arm and/or on the rope-parking bollard and/or on other locations on the external side of the hull.
  • the invention concerns a method performed using a vessel as described above, comprising the following steps:
  • step B and step C may be interchanged or performed simultaneously.
  • step G and step H may be interchanged or performed simultaneously.
  • step E If the external location of step E is the location of a bollard on a quay structure having been previously detected by the object sensing system, the method may further comprise the following steps:
  • At least one, preferably all, of the steps can be done remotely by the remote control system.
  • At least one, preferably all, of the steps may be activated and controlled based on positional data collected by the object sensing system.
  • the method may also be reversed to manoeuvre the attachment system from an external location, for example a quay bollard to a rope-parking bollard.
  • At least one of the object sensor system, the attachment system, the winch, the rope-parking bollard and the robotic arm comprise transmitting means allowing wireless communication with a remote data processing apparatus configured to perform the steps A-E, preferably all of the steps A-H
  • the invention concerns a data processing apparatus comprising a computer program that, when executed on a processor, is configured to perform the method steps A-E, preferably all steps A-H.
  • the manoeuvring of the robotic arm may be achieved by use of one or more telescopic robotic arm sections.
  • one or more of the robotic arm sections for example the outermost robotic arm section, may be telescopic in order to achieve additional manoeuvrability.
  • Figs. 1-9 show an embodiment of a vessel 100 ( figs. 1 and 2 ) with a mooring system having one or more winches 11 with a winch drum 11a and a winch motor 11b ( figs. 2 and 3 ), mooring lines 10 with a rope eye 22 associated with each winch ( figs. 6-9 ), a plurality of robotic arms 200 fixed to a deck 102 ( figs. 4-7 ) and/or a hull 101 of the vessel 100 and one or more rope-parking bollards 220 associated with one or more of the mooring lines 10 ( figs. 6-9 ).
  • the hull 101 of the vessel 100 has a bow part 104 and an aft part 105 ( fig. 2 ).
  • the deck structure 103 defined as any physical obstacles arranged onto the vessel's 100 deck 102 that is not directly involved in the mooring operation to a remote structure or the parking of the mooring line's rope eye around a rope-parking bollard, may include both fixed structures such as the deck infrastructure and removable products such as non-mooring related equipment and/or containers.
  • a gripper connector 213c at an end 213 of each robotic arm 200 is configured to grab the mooring line 10 near the rope eye 22 at an end 10a of the mooring line 10 without the need of human intervention, and to subsequently transfer the rope eye 22 between the location of the rope-parking bollard 220 and any location within a distance from the rope-parking bollard 220 depending on the maximum extent of the robot arm 200, for example within 30 meters, 25 meters, 20 meters 15 meters, 10 meters or 5 meter
  • the mooring line 10 may advantageously be guided during transfer between the rope-parking bollards 220 and the external location, for example via fairleads 106 arranged within the hull 101 or separate mooring line guides 12 arranged on the deck 102 or a combination thereof.
  • An example of a mooring line guide 12 may be drums adapted for changing the direction of the mooring line 10 somewhere between the winch 11 and the fairlead 106 (or any other exit structures at the deck's 102 lateral boundaries).
  • each rope-parking bollard 220 is at the external side of the hull 101 and adjacent to a fairlead 106, for example within 5 meters from the fairlead.
  • the rope-parking bollards may further be evenly distributed along the lateral plane of at least some sections of the hull 101.
  • a plurality of rope-parking bollards may be evenly distributed along the bow portion 104 and/or along the aft portion 105.
  • each rope-parking bollard 220 comprises a bollard head 221 and a bollard column 222.
  • the latter has a bollard column proximal end and a bollard column distal end, where the bollard head 221 is located at the bollard column distal end and the bollard column proximal end is fixed to the hull 101 or the deck 102.
  • the protrusion of the rope-parking bollard 220 from the hull 101 or deck 102 may be in any angle relative to the hull/deck surface.
  • the bollard column 222 can be straight or have one or more bends / kinks located between the proximal longitudinal end and the distal end.
  • the bollard column 222 may initially extend perpendicular to, or at a given first angle between 0° and 90° from, the hull/deck surface 101 and then change direction (bend/kink) along the bollard column's 222 longitudinal angle, i.e. another angle.
  • the bollard column 222 is oriented perpendicular to the hull/deck surface without any bends/kinks.
  • one or more of the rope-parking bollards 220 may be a placed in a recess 230 in the hull 101 or deck 102, where the proximal longitudinal end of the bollard column 222 is fixed within the recess 230, thereby avoiding, or at least mitigating, any disadvantage related to protruding structures from the hull/deck.
  • the opening of the recess 230 is sufficiently large to allow the rope eye 22 to pass around the bollard head 221 during parking of the mooring line 10
  • the recess depth into the side of the hull 101 or the deck 102 may be at least 20 % of the length of the bollard column 222 along its longitudinal direction, more preferably at least 30 % of the length, even more preferably at least 50 %, for example between 90 % and 100 %, that is equal or near equal to column's total length.
  • the depth of the recess 230 may also have a depth that equals the length of the bollard column 222 and the bollard head 221 along the longitudinal direction of the bollard column 222, thereby reducing significantly undesired interference with external structures such as quay structures 1.
  • one or more of the rope-parking bollards 220 may include a signal communication system 223 comprising a receiver and/or a transmitter.
  • the signal communication system may include a transceiver, thereby allowing wireless transmission as well as wireless receival.
  • the rope-parking bollard 220 may be configured to send a signal to a remotely located control system when the rope eye 22 has established a stable attachment with the rope-parking bollard 220 and/or has been successfully released from the rope-parking bollard 220. If the rope-parking bollard 220 also includes a receiver, the control system may send signals to the rope-parking bollard 220 that may further be communicated to the robotic arm 200 and/or the winch 11 and/or an attachment system 20 including the rope eye 22 at the mooring line 10a during fastening/releasing procedures.
  • the rope-parking bollard 220 may be located a distance from a fairlead 106 used to guide the mooring line through the hull 101.
  • the rope-parking bollard 220 and the fairlead 106 may further be located at the same or near the same height relative to the hull's 101 waterline as illustrated in fig. 7 or immediately above the fairlead as illustrated in fig. 6 .
  • the rope-parking bollard 220 and the fairlead 106 may be located on the same side of the hull 101, but at different deck levels.
  • the mooring line 10 further includes an attachment system 20, comprising a mooring loop 22, also denoted a rope eye, attached to the end 10a of the mooring line 10 via a sheave 21 or a mooring line connector 21.
  • the gripper connector 213c and the sheave 21 are mutually designed to ensure a stable, releasable coupling.
  • One example of such a coupling may be arranging an electromagnet on the gripper connector 213c and a permanent magnet on the mooring line connector 21.
  • other fixing means such as hooks may also be envisaged.
  • the bollard head 221 is configured such that the bollard head 221 can enter through the mooring loop 22.
  • the mooring loop 22 is made elastic, meaning that its initial shape is regained after having been exposed for a load typical for mooring of vessels.
  • the mooring loop 22 should regain 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.
  • Figs. 4 and 5 shows an exemplary embodiment of a robotic arm 200 being fixed on the deck 102 at the right corner of the vessel's aft portion 105.
  • the deck structure 103 includes a high number of obstacles, thereby reducing the possible manoeuvrability space of the robotic arm 200 significantly.
  • 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.
  • the robotic arm 200 comprises a total of three robotic arm sections 204,206, 211 which are interlinked in the following manner:
  • the above-mentioned configuration of the robotic arm 200 is only one of many exemplary configurations that allows high degree of movements despite of relatively complex deck structure 103.
  • 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.
  • the other end of the outer section 211 may constitute a gripper assembly 213 comprising
  • the gripper assembly 213 is generally configured to enable releasable gripping of the sheave 21 arranged between the mooring loop 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 mooring loop 22 around a rope-parking bollard 220 or 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.
  • all or some of the rotating means on the robotic arm 200 such as the swivels 203,205,207,210 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 vessel also comprises an object sensing system 30 configured to detect the surrounding structures.
  • an object sensing system 30 configured to detect the surrounding structures.
  • a sensor camera 30a constituting a part of the object sensing system 30 is arranged on the mid rotary device 213b, thereby enabling detection of an area in the vicinity of the gripper assembly 213.
  • structures such as rope-parking bollards 220 or bollards 2 may be detected and analysed with respect to position and size.
  • the object sensing system 30 is configured to detect objects within a maximum allowable distance, for example 100 m, 80 m, 70 m, 50 m, 30 m, 10 m or 5 m.
  • the object sensing system 30 may comprise a plurality of sensor components distributed on the vessel 100 to ensure detection and analyses of the surrounding environment and thereby allowing a successful mooring with little or no need of human intervention.
  • sensor components may be arranged on each or some of the robotic arm sections, as well as on the gripper assembly 213 or on the rope-parking bollard 220.
  • 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 to further aid the positioning of the robotic arm 200 and/or the mooring line 10 and/or the mooring loop 22.
  • Fig. 11 shows a sensing area 31 set up by at least part of the object sensing system 30, within which any structure such as rope-parking bollards 220 may be detected and analysed with respect to position and size.
  • the different steps to ensure a successful transfer of the attachment system 20 from or to a rope-parking bollard 220 may proceed as follows:
  • the arrangement of the mooring loop 22 around the rope-parking bollard 220 may proceed as for the arrangement around the bollard 2 as described above.
  • the rope-parking bollard 220 is configured to facilitate attachment of the attachment system 20, when the attachment system 20 is not being used for other purposes, for example mooring the vessel 100 to a bollard 2 on a quay 1.
  • the rope-parking 220 bollard thus provides a predetermined location for the attachment system 20, where the attachment system 20 can be retrieved or placed, for example by the robotic arm 200.
  • the robotic arm 200 may be guided to the rope-parking bollard 220 automatically by a remote-control unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
  • Manipulator (AREA)

Claims (19)

  1. Schiff (100), das Folgendes umfasst:
    - einen Rumpf (101) zum Schwimmen in einem Gewässer,
    - einen Seilparkpoller (220), der umfasst:
    o eine Pollersäule (222) mit einem proximalen Längsende und einem distalen Längsende,
    o einen Pollerkopf (221), der am distalen Längsende der Pollersäule (222) angeordnet ist, und
    o ein Übertragungssystem (223), das mindestens eines aus einem Empfänger, einem Sender und einem Sendeempfänger umfasst, um eine drahtlose Kommunikation mit einem Fernsteuerungssystem zu ermöglichen,
    o wobei die Querschnittsfläche des senkrecht zur Längsrichtung der Pollersäule (222) ausgerichteten Pollerkopfes (221) größer ist als die entsprechende Querschnittsfläche der Pollersäule (222),
    o wobei der Seilparkpoller (220) am Rumpf (101) am proximalen Längsende der Pollersäule (222) befestigt ist, und
    - ein Festmachsystem zum automatischen Festmachen an einem oder mehreren Pollern (2) auf einer Kaistruktur (1),
    wobei mindestens ein Pollerkopf (221) des Seilparkpollers (220) von einer Außenseite des Rumpfes (101) hervorsteht.
  2. Schiff (100) nach Anspruch 1,
    dadurch gekennzeichnet, dass die Längsrichtung der Pollersäule (222) senkrecht zur Seite des Rumpfes (101) verläuft.
  3. Schiff (100) nach Anspruch 1 oder 2,
    dadurch gekennzeichnet, dass das proximale Längsende der Pollersäule (222) in einer Rumpfaussparung (230) befestigt ist, die in der Seite des Rumpfes (101) ausgebildet ist.
  4. Schiff (100) nach Anspruch 3,
    dadurch gekennzeichnet, dass die Rumpfaussparung (230) eine Tiefe in der Seite des Rumpfes (101) aufweist, die mindestens 20 % der Länge der Pollersäule (222) in ihrer Längsrichtung beträgt.
  5. Schiff (100) nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Schiff (100) ferner eine Vielzahl von Seilparkpollern (220) umfasst.
  6. Schiff (100) nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Schiff (100) des Weiteren Folgendes umfasst:
    eine Festmacherleine (10) mit einem Festmacherleinenende (10a),
    ein Befestigungssystem (20), das am Festmacherleinenende (10a) befestigt ist, um eine lösbare Befestigung am Seilparkpoller (220) zu ermöglichen.
  7. Schiff (100) nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Schiff (100) des Weiteren Folgendes umfasst:
    eine Festmacherleine (10) mit einem Festmacherleinenende (10a),
    ein Befestigungssystem (20), das am Festmacherleinenende (10a) befestigt ist, um eine lösbare Befestigung am Seilparkpoller (220) zu ermöglichen,
    wobei der Seilparkpoller (220) des Weiteren Folgendes umfasst:
    ein Pollerübertragungssystem (223), das einen Sender umfasst, wobei das Pollerübertragungssystem (223) dazu konfiguriert ist, ein Signal an ein Fernsteuerungssystem zu senden, wenn das Befestigungssystem (20) eine lösbare Befestigung an dem Seilparkpoller (220) hergestellt hat.
  8. Schiff (100) nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Schiff (100) des Weiteren Folgendes umfasst:
    - eine Festmacherleine (10), umfassend ein Festmacherleinenende (10a) und
    - ein Befestigungssystem (20) zur rückholbaren Befestigung an einem Seilparkpoller (220), wobei das Befestigungssystem (20) umfasst:
    - eine Festmacherschlaufe (22), wobei die Mindestgröße der Öffnung der Festmacherschlaufe (22) ausreicht, um den Pollerkopf (221) durch sie hindurchtreten zu lassen, und
    - einen Festmacherleinenverbinder (21), der die Festmacherschlaufe (22) mit dem Festmacherleinenende (10a) verbindet.
  9. Schiff (100) nach Anspruch 8,
    dadurch gekennzeichnet, dass das Schiff (100) des Weiteren Folgendes umfasst:
    - eine Winde (11) zum Winden der Festmacherleine (10), wobei ein zweites Festmacherleinenende der Festmacherleine (10) zumindest mittelbar an der Winde (11) befestigt ist, und
    - einen Roboterarm (200), der einen äußeren Roboterarmabschnitt (211) mit einer Greiferbaugruppe (213) an einem ersten Längsende umfasst, wobei die Greiferbaugruppe (213) dazu konfiguriert ist, den Festmacherleinenverbinder (21) lösbar zu greifen, um den Transfer des Befestigungssystems (20) von einem Ort zu einem anderen zu ermöglichen.
  10. Schiff (100) nach Anspruch 9,
    dadurch gekennzeichnet, dass die Greiferbaugruppe (213) relativ zu dem äußeren Roboterarmabschnitt (211) drehbar ist.
  11. Schiff (100) nach Anspruch 9 oder 10,
    dadurch gekennzeichnet, dass die Greiferbaugruppe (213) umfasst:
    - eine erste Drehvorrichtung (213a), die drehbar an dem ersten Längsende des äußeren Roboterarmabschnitts (211) befestigt ist, und
    - eine zweite Drehvorrichtung (213b), die drehbar an der ersten Drehvorrichtung (213a) befestigt ist, mit einer Drehachse, die sich von der Drehachse der ersten Drehvorrichtung (213a) unterscheidet.
  12. Schiff (100) nach Anspruch 11,
    dadurch gekennzeichnet, dass die Greiferbaugruppe (213) des Weiteren umfasst:
    - einen Greiferverbinder (213c), der drehbar an der zweiten Drehvorrichtung (213b) befestigt ist, mit einer Drehachse, die sich von der Drehachse der zweiten Drehvorrichtung (213b) unterscheidet.
  13. Schiff (100) nach einem der Ansprüche 9 bis 12,
    dadurch gekennzeichnet, dass das Schiff (100) eine Vielzahl von Roboterarmen (200) umfasst.
  14. Schiff (100) nach einem der Ansprüche 9-13,
    dadurch gekennzeichnet, dass das Schiff (100) des Weiteren eine Vielzahl von Seilparkpollern (220) umfasst und dass mindestens einer der Seilparkpoller (220) innerhalb der maximalen Ausdehnung des Roboterarms (200) angeordnet ist.
  15. Schiff (100) nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Schiff (100) des Weiteren ein Objektsensorsystem (30) zum Erfassen der Position und Größe von Objekten innerhalb eines vorgegebenen Abstandsbereichs umfasst.
  16. Verfahren zum automatischen Umlegen einer Festmacherleine (10) von einem Schiff (100) zu einem externen Ort, wobei das Schiff (100) einem der vorhergehenden Ansprüche 1-15 entspricht und des Weiteren umfasst:
    - ein Objektsensorsystem (30) zum Erfassen der Position und Größe von Objekten, die sich innerhalb eines maximal zulässigen Abstands von dem Objektsensorsystem (30) befinden, und wobei das Festmachersystem Folgendes umfasst
    - eine Festmacherleine (10), umfassend ein erstes Festmacherleinenende (10a) und ein zweites Festmacherleinenende,
    - ein Befestigungssystem (20) zur rückholbaren Befestigung an dem Seilparkpoller (220), wobei das Befestigungssystem (20) eine Festmacherschlaufe (22) umfasst, die eine Öffnung mit einer ausreichenden Größe aufweist, damit der Seilparkpoller (220) durch sie hindurchtreten kann, und einen Festmacherleinenverbinder (21), der die Festmacherschlaufe (22) und das erste Festmacherleinenende (10a) verbindet,
    - eine Winde (11) zum Winden der Festmacherleine (10), wobei das zweite Festmacherleinenende zumindest mittelbar an der Winde (11) befestigt ist, und
    - einen Roboterarm (200), der umfasst:
    eine Deckbasis (201), die zumindest mittelbar an einem Deck (101) des Schiffes (100) drehbar befestigt ist, und
    einen äußeren Roboterarmabschnitt (211) mit einem ersten Längsende, das drehbar an einer Greiferbaugruppe (213) befestigt ist, und einem zweiten Längsende, das drehbar zumindest mittelbar an der Deckbasis (201) befestigt ist, wobei das Verfahren die folgenden Schritte umfasst:
    A. Manövrieren des äußeren Roboterarmabschnitts (211) durch Betätigen mindestens eines Drehgelenks (203, 205, 207, 210), das sich zwischen der Deckbasis (201) und dem äußeren Roboterarmabschnitt (211) befindet, in eine Position, in der die Greiferbaugruppe (213) neben dem Befestigungssystem (20) angeordnet ist, wobei die Festmacherschlaufe (22) des Befestigungssystems (20) den Seilparkpoller (220) umgibt,
    B. Betätigen der Winde (11), um die Spannung der Festmacherleine (10) zu lockern,
    C. lösbares Befestigen der Greiferbaugruppe (213) am Festmacherleinenverbinder (21),
    D. Führen der Festmacherschlaufe (22) durch Betätigen mindestens einer Drehvorrichtung (213a, 213b, 213c) der Greiferbaugruppe (213) oder mindestens eines Drehgelenks (203, 205, 207, 210) oder einer Kombination davon, so dass die Festmacherschlaufe (22) vom Seilparkpoller (220) gelöst wird, und
    E. Führen des Befestigungssystems (20) durch Betätigen mindestens einer Drehvorrichtung (213a, 213b, 213c) der Greiferbaugruppe (13) oder mindestens eines Drehgelenks (203, 205, 207, 210) oder einer Kombination davon, so dass das Befestigungssystem (20) zu dem externen Ort geführt wird.
  17. Verfahren nach Anspruch 16, wobei der externe Ort der Standort eines Pollers (2) auf einer Kaistruktur (1) ist, der zuvor von dem Objektsensorsystem (30) ermittelt wurde, und wobei das Verfahren des Weiteren die folgenden Schritte umfasst:
    F. Führen des Befestigungssystems (20) durch Betätigen mindestens einer Drehvorrichtung (213a, 213b, 213c) der Greiferbaugruppe (13) oder mindestens eines Drehgelenks (203, 205, 207, 210) oder einer Kombination davon, so dass die Festmacherschlaufe (22) zumindest einen Teil des Pollers (2) auf der Kaistruktur (1) umgibt,
    G. Lösen der Greiferbaugruppe (213) von dem Befestigungssystem (20), und
    H. Betätigen der Winde (11), um die Festmacherleine (10) zwischen der Winde (11) und dem Poller (2) zu spannen.
  18. Verfahren nach einem der Ansprüche 16 bis 17,
    dadurch gekennzeichnet, dass mindestens eines aus dem Objektsensorsystem (30), dem Befestigungssystem (20), der Winde (11), dem Seilparkpoller (220) und dem Roboterarm (200) Übertragungsmittel umfasst, die eine drahtlose Kommunikation mit einer entfernten Datenverarbeitungsvorrichtung ermöglichen, welche dazu konfiguriert ist, die Schritte A-E durchzuführen.
  19. Datenverarbeitungsvorrichtung, umfassend einen Prozessor, der dazu konfiguriert ist, das Verfahren nach den Schritten A-E eines der Ansprüche 17 bis 18 durchzuführen.
EP20712901.6A 2019-03-18 2020-03-17 Schiff mit einem festmachsystem zum automatischen festmachen an einem poller und verfahren zum festmachen Active EP3941819B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20190367A NO345183B1 (en) 2019-03-18 2019-03-18 A vessel having a mooring system for automatic mooring to a bollard and a method for mooring
PCT/EP2020/057259 WO2020187900A1 (en) 2019-03-18 2020-03-17 A vessel having a mooring system for automatic mooring to a bollard and a method for mooring

Publications (2)

Publication Number Publication Date
EP3941819A1 EP3941819A1 (de) 2022-01-26
EP3941819B1 true EP3941819B1 (de) 2023-03-15

Family

ID=69903138

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20712901.6A Active EP3941819B1 (de) 2019-03-18 2020-03-17 Schiff mit einem festmachsystem zum automatischen festmachen an einem poller und verfahren zum festmachen

Country Status (6)

Country Link
EP (1) EP3941819B1 (de)
DK (1) DK3941819T3 (de)
FI (1) FI3941819T3 (de)
NO (1) NO345183B1 (de)
PL (1) PL3941819T3 (de)
WO (1) WO2020187900A1 (de)

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB122357A (en) * 1918-06-15 1919-01-23 Andrew Simpson Improvements in and relating to Bollards or Mooring Bitts.
GB327939A (en) * 1929-09-10 1930-04-17 Clement Henry Stevens Improvements in and relating to the construction of bollards
JPS56116586A (en) * 1980-02-20 1981-09-12 Mitsubishi Heavy Ind Ltd Mooring equipment
JPS5942133B2 (ja) * 1980-06-06 1984-10-12 日立造船株式会社 船舶の自動係留方法
JPS58136585A (ja) * 1982-02-10 1983-08-13 Hitachi Zosen Corp 係船方法
JPS58119490U (ja) * 1982-02-10 1983-08-15 日立造船株式会社 係船装置
JPS59221613A (ja) * 1983-05-31 1984-12-13 Mitsubishi Heavy Ind Ltd 船位測定装置
JPS6018081U (ja) * 1983-07-16 1985-02-07 三菱重工業株式会社 自動係船装置
US4729332A (en) * 1983-12-21 1988-03-08 Nippon Kokan Kabushiki Kaisha Mooring apparatus
JPS60244693A (ja) * 1984-05-17 1985-12-04 Nippon Kokan Kk <Nkk> 氷海船舶の係留方法
JPH0324471Y2 (de) * 1984-11-24 1991-05-28
NL9302289A (nl) * 1993-12-31 1995-07-17 Sven Olaf Aarts Werkwijze voor het in de scheepvaart manipuleren van een verbindingselement.
DE602007001263D1 (de) * 2006-06-22 2009-07-23 Food & Food Di Morelli Stefano Automatisches Vertäuungssystem
DE202009009334U1 (de) * 2009-07-07 2009-09-17 Carl Cloos Schweißtechnik GmbH Siebenachsiger Knickarmroboter
KR20130134838A (ko) * 2012-05-31 2013-12-10 한국과학기술원 계류용 로봇아암
CN105346676A (zh) * 2015-09-23 2016-02-24 江苏神力集团船舶设备有限责任公司 球头带缆桩
FI130355B (en) 2016-01-29 2023-07-17 Rolls Royce Oy Ab Independent use of a fat cloth
DK201670186A1 (en) * 2016-03-31 2017-10-16 A P Møller - Mærsk As A method and system for operating one or more tugboats
DK179138B1 (en) * 2016-03-31 2017-11-27 A P Møller - Mærsk As A boat with a mooring system and a method for automatically mooring a boat

Also Published As

Publication number Publication date
WO2020187900A1 (en) 2020-09-24
PL3941819T3 (pl) 2023-07-31
NO20190367A1 (en) 2020-09-21
NO345183B1 (en) 2020-10-26
DK3941819T3 (da) 2023-06-19
EP3941819A1 (de) 2022-01-26
FI3941819T3 (fi) 2023-06-12

Similar Documents

Publication Publication Date Title
US11845521B2 (en) Marine structure comprising a launch and recovery system
EP3321162B1 (de) Unbemanntes schiff mit kopplungsvorrichtung und rückholverfahren dafür
WO2017167877A1 (en) A boat with a mooring system and a method for automatically mooring a boat
US11279446B2 (en) Disconnectable tower yoke mooring system and methods for using same
KR102333334B1 (ko) 공해에서 탄화수소를 전달하기 위한 커플링 시스템
EP3941818B1 (de) Verankerungsstruktur zum automatischen verankern eines schiffes an einem kai und verfahren zum vertäuen
KR101722249B1 (ko) 해상 구조물 결합 장치
EP3941819B1 (de) Schiff mit einem festmachsystem zum automatischen festmachen an einem poller und verfahren zum festmachen
US11267532B2 (en) Disconnectable tower yoke mooring system and methods for using same
EP3740423B1 (de) Schiff mit einem halbautomatischen oder automatischen ankersystem und verfahren
EP3697680B1 (de) Einzugsboje
EP3622123A1 (de) Schwimmende rohrleitung mit kupplungsanordnung
WO2022105974A1 (en) Line handling device and vessel comprising the line handling device

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20211013

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20221014

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020008887

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1553871

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230415

RAP4 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: MACGREGOR NORWAY AS

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

Effective date: 20230615

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230522

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230315

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230615

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230331

Year of fee payment: 4

Ref country code: FR

Payment date: 20230608

Year of fee payment: 4

Ref country code: DK

Payment date: 20230615

Year of fee payment: 4

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1553871

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230315

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230616

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20230612

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230717

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230715

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20230612

Year of fee payment: 4

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230331

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602020008887

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230317

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230315

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230331

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230317

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230331

26N No opposition filed

Effective date: 20231218

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230331

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20240205

Year of fee payment: 5

Ref country code: DE

Payment date: 20240209

Year of fee payment: 5