EP3941819B1 - Vaisseau ayant un système d'amarrage pour amarrage automatique à une borne et procédé d'amarrage - Google Patents

Vaisseau ayant un système d'amarrage pour amarrage automatique à une borne et procédé d'amarrage 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
German (de)
English (en)
Other versions
EP3941819A1 (fr
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/fr
Application granted granted Critical
Publication of EP3941819B1 publication Critical patent/EP3941819B1/fr
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.

Claims (19)

  1. Navire (100) comprenant :
    - une coque (101) pour flotter dans une masse d'eau,
    - un bollard de stationnement à câble (220) comprenant
    o une colonne de bollard (222) présentant une extrémité longitudinale proximale et une extrémité longitudinale distale,
    o une tête de bollard (221) agencée au niveau de l'extrémité longitudinale distale de la colonne de bollard (222), et
    o un système de transmission (223) comprenant au moins l'un d'un récepteur, d'un transmetteur et d'un émetteur-récepteur pour permettre la communication sans fil avec un système de commande à distance,
    o dans lequel la superficie de section transversale de la tête de bollard (221) orientée perpendiculairement à la direction longitudinale de la colonne de bollard (222) est supérieure à la superficie de section transversale correspondante de la colonne de bollard (222),
    o dans lequel le bollard de stationnement à câble (220) est fixé à la coque (101) au niveau de l'extrémité longitudinale proximale de la colonne de bollard (222), et
    - un système d'amarrage pour l'amarrage automatique à un ou plusieurs bollards (2) sur une structure de quai (1),
    dans lequel au moins une tête de bollard (221) du bollard de stationnement à câble (220) fait saillie d'un côté externe de la coque (101).
  2. Navire (100) selon la revendication 1,
    caractérisé en ce que la direction longitudinale de la colonne de bollard (222) est perpendiculaire au côté de la coque (101).
  3. Navire (100) selon la revendication 1 ou 2,
    caractérisé en ce que l'extrémité longitudinale proximale de la colonne de bollard (222) est fixée dans un évidement de coque (230) formé dans le côté de la coque (101).
  4. Navire (100) selon la revendication 3,
    caractérisé en ce que l'évidement de coque (230) présente une profondeur dans le côté de la coque (101) qui est d'au moins 20 % de la longueur de la colonne de bollard (222) le long de sa direction longitudinale.
  5. Navire (100) selon l'une quelconque des revendications précédentes,
    le navire (100) étant caractérisé en ce qu'il comprend en outre une pluralité de bollards de stationnement à câble (220).
  6. Navire (100) selon l'une quelconque des revendications précédentes,
    le navire (100) étant caractérisé en ce qu'il comprend en outre
    une amarre (10) présentant une extrémité d'amarre (10a),
    un système de fixation (20) fixé à l'extrémité d'amarre (10a) pour permettre la fixation libérable au bollard de stationnement à câble (220).
  7. Navire (100) selon l'une quelconque des revendications précédentes,
    le navire (100) étant caractérisé en ce qu'il comprend en outre
    une amarre (10) présentant une extrémité d'amarre (10a),
    un système de fixation (20) fixé à l'extrémité d'amarre (10a) pour permettre la fixation libérable au bollard de stationnement à câble (220),
    dans lequel le bollard de stationnement à câble (220) comprend en outre
    un système de transmission de bollard (223) comprenant un transmetteur, dans lequel le système de transmission de bollard (223) est configuré pour transmettre un signal à un système de commande à distance lorsque le système de fixation (20) a établi une fixation libérable au bollard de stationnement à câble (220).
  8. Navire (100) selon l'une quelconque des revendications précédentes,
    le navire (100) étant caractérisé en ce qu'il comprend en outre
    - une amarre (10) comprenant une extrémité d'amarre (10a) et
    - un système de fixation (20) pour la fixation récupérable à un bollard de stationnement à câble (220), le système de fixation (20) comprenant
    - une boucle d'amarrage (22), la taille minimale de l'ouverture de la boucle d'amarrage (22) étant suffisante pour permettre à la tête de bollard (221) d'entrer à travers celle-ci, et
    - un connecteur d'amarre (21) connectant la boucle d'amarrage (22) à l'extrémité d'amarre (10a).
  9. Navire (100) selon la revendication 8,
    le navire (100) étant caractérisé en ce qu'il comprend en outre
    - un treuil (11) pour treuiller l'amarre (10), une deuxième extrémité d'amarre de l'amarre (10) étant au moins indirectement fixée au treuil (11), et
    - un bras robotisé (200) comprenant une section de bras robotisé externe (211) avec un ensemble de pince (213) au niveau d'une première extrémité longitudinale, l'ensemble de pince (213) étant configuré pour saisir de manière détachable le connecteur d'amarre (21) pour permettre le transfert du système de fixation (20) d'un emplacement à un autre.
  10. Navire (100) selon la revendication 9,
    caractérisé en ce que l'ensemble de pince (213) est rotatif par rapport à la section de bras robotisé externe (211).
  11. Navire (100) selon la revendication 9 ou 10,
    caractérisé en ce que l'ensemble de pince (213) comprend
    - un premier dispositif rotatif (213a) fixé de manière rotative à la première extrémité longitudinale de la section de bras robotisé externe (211) et
    - un deuxième bras rotatif (213b) fixé de manière rotative au premier dispositif rotatif (213a) avec un axe de rotation différent de l'axe de rotation du premier dispositif rotatif (213a).
  12. Navire (100) selon la revendication 11,
    caractérisé en ce que l'ensemble de pince (213) comprend en outre
    - un connecteur de pince (213c) fixé de manière rotative au deuxième dispositif rotatif (213b) avec un axe de rotation différent de l'axe de rotation du deuxième dispositif rotatif (213b).
  13. Navire (100) selon l'une quelconque des revendications 9 à 12,
    le navire (100) étant caractérisé en ce qu'il comprend une pluralité de bras robotisés (200).
  14. Navire (100) selon l'une quelconque des revendications 9-13,
    le navire (100) étant caractérisé en ce qu'il comprend en outre une pluralité de bollards de stationnement à câble (220) et qu'au moins un des bollards de stationnement à câble (220) est placé dans l'étendue maximale du bras robotisé (200).
  15. Navire (100) selon l'une quelconque des revendications précédentes, le navire (100) étant caractérisé en ce qu'il comprend en outre un système de capteur d'objet (30) pour détecter la position et taille d'objets dans une plage de distance prédéterminée.
  16. Procédé pour transférer de manière automatique une amarre (10) d'un navire (100) à un emplacement externe, dans lequel le navire (100) est conforme à l'une quelconque des revendications 1 à 15 précédentes et comprend en outre
    - un système de capteur d'objet (30) pour détecter la position et taille d'objets situés à une distance admissible maximale du système de capteur d'objet (30), et dans lequel le système d'amarrage comprend
    - une amarre (10) comprenant une première extrémité d'amarre (10a) et une deuxième extrémité d'amarre,
    - un système de fixation (20) pour la fixation récupérable du bollard de stationnement à câble (220), le système de fixation (20) comprenant une boucle d'amarrage (22) présentant une ouverture avec une taille suffisante pour permettre au bollard de stationnement à câble (220) d'entrer à travers celle-ci et un connecteur d'amarre (21) connectant la boucle d'amarrage (22) et la première extrémité d'amarre (10a),
    - un treuil (11) pour treuiller l'amarre (10), la deuxième extrémité d'amarre étant fixée au moins indirectement au treuil (11), et
    - un bras robotisé (200) comprenant
    une base pour pont (201) fixée de manière rotative au moins indirectement à un pont (101) du navire (100) et
    une section de bras robotisé externe (211) présentant une première extrémité longitudinale fixée de manière rotative à un ensemble de pince (213) et une deuxième extrémité longitudinale fixée de manière rotative au moins indirectement à la base pour pont (201),
    le procédé comprenant les étapes suivantes :
    A. la manoeuvre de la section de bras robotisé externe (211) par actionnement d'au moins un émerillon (203, 205, 207, 210) situé entre la base pour pont (201) et la section de bras robotisé externe (211) vers une position dans laquelle l'ensemble de pince (213) est agencé de manière adjacente au système de fixation (20), la boucle d'amarrage (22) du système de fixation (20) entourant le bollard de stationnement à câble (220)
    B. l'actionnement du treuil (11) pour relâcher la tension de l'amarre (10),
    C. la fixation libérable de l'ensemble de pince (213) au connecteur d'amarre (21),
    D. le guidage de la boucle d'amarrage (22) par actionnement d'au moins un dispositif rotatif (213a, 213b, 213c) de l'ensemble de pince (213) ou d'au moins un émerillon (203, 205, 207, 210) ou d'une combinaison de ceux-ci de telle sorte que la boucle d'amarrage (22) soit libérée du bollard de stationnement à câble (220) et
    E. le guidage du système de fixation (20) par actionnement d'au moins un dispositif rotatif (213a, 213b, 213c) de l'ensemble de pince (213) ou d'au moins un émerillon (203, 205, 207, 210) ou d'une combinaison de ceux-ci de telle sorte que le système de fixation (20) soit guidé vers l'emplacement externe.
  17. Procédé selon la revendication 16, dans lequel l'emplacement externe est l'emplacement d'un bollard (2) sur une structure de quai (1) ayant été détecté précédemment par le système de capteur d'objet (30) et
    le procédé comprenant en outre les étapes suivantes :
    F. le guidage du système de fixation (20) par actionnement d'au moins un dispositif rotatif (213a, 213b, 213c) de l'ensemble de pince (13) ou d'au moins un émerillon (203, 205, 207, 210) ou une combinaison de ceux-ci de telle sorte que la boucle d'amarrage (22) entoure au moins une partie du bollard (2) sur la structure de quai (1),
    G. le détachement de l'ensemble de pince (213) du système de fixation (20), et
    H. l'actionnement du treuil (11) pour serrer l'amarre (10) entre le treuil (11) et le bollard (2).
  18. Procédé selon l'une quelconque des revendications 16 à 17,
    caractérisé en ce qu'au moins l'un du système de capteur d'objet (30), du système de fixation (20), du treuil (11), du bollard de stationnement à câble (220) et du bras robotisé (200) comprend des moyens de transmission permettant une communication sans fil avec un appareil de traitement de données à distance configuré pour mettre en oeuvre les étapes A à E.
  19. Appareil de traitement de données comprenant
    un processeur configuré pour mettre en oeuvre le procédé selon les étapes A à E selon l'une quelconque des revendications 17 à 18.
EP20712901.6A 2019-03-18 2020-03-17 Vaisseau ayant un système d'amarrage pour amarrage automatique à une borne et procédé d'amarrage Active EP3941819B1 (fr)

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 (fr) 2019-03-18 2020-03-17 Vaisseau ayant un système d'amarrage pour amarrage automatique à une borne et procédé d'amarrage

Publications (2)

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

Family

ID=69903138

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20712901.6A Active EP3941819B1 (fr) 2019-03-18 2020-03-17 Vaisseau ayant un système d'amarrage pour amarrage automatique à une borne et procédé d'amarrage

Country Status (6)

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

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117773909A (zh) * 2023-09-25 2024-03-29 长江三峡通航管理局 一种具备自动识别功能的船闸自主套缆机械臂系统及方法

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
JPS58119490U (ja) * 1982-02-10 1983-08-15 日立造船株式会社 係船装置
JPS58136585A (ja) * 1982-02-10 1983-08-13 Hitachi Zosen Corp 係船方法
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 (fr) * 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
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
DK201670186A1 (en) * 2016-03-31 2017-10-16 A P Møller - Mærsk As A method and system for operating one or more tugboats

Also Published As

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

Similar Documents

Publication Publication Date Title
US11845521B2 (en) Marine structure comprising a launch and recovery system
EP3321162B1 (fr) Vaisseau sans équipage ayant un appareil d&#39;accouplement et son procédé de récupération
WO2017167877A1 (fr) Bateau doté d&#39;un système d&#39;amarrage et procédé d&#39;amarrage automatique d&#39;un bateau
EP3941819B1 (fr) Vaisseau ayant un système d&#39;amarrage pour amarrage automatique à une borne et procédé d&#39;amarrage
US11279446B2 (en) Disconnectable tower yoke mooring system and methods for using same
KR102333334B1 (ko) 공해에서 탄화수소를 전달하기 위한 커플링 시스템
EP3941818B1 (fr) Structure d&#39;amarrage pour l&#39;amarrage automatique d&#39;un vaisseau à un quai et procédé d&#39;amarrage
KR101722249B1 (ko) 해상 구조물 결합 장치
US11267532B2 (en) Disconnectable tower yoke mooring system and methods for using same
EP3740423B1 (fr) Navire avec un système d&#39;amarrage semi-automatique ou automatique et procédé
EP3697680B1 (fr) Bouée de traction
EP3622123A1 (fr) Pipeline flottant comprenant un ensemble d&#39;accouplement
WO2022105974A1 (fr) Dispositif de manipulation de ligne et navire comprenant le dispositif de manipulation de ligne

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

Ref country code: DE

Payment date: 20230612

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

Ref country code: FI

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