JP2002274481A - Automatic mooring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten time of mooring work, reduce labor, and attain safety. SOLUTION: A hull 11 is brought near to quays 3 and 5 while absorbing kinetic energy of the hull 11 by docking energy absorbers 21 arranged on the quays 3 and 5. Afterwards, the hull 11 is automatically gripped by gripping means 7 of automatic mooring devices 2 arranged on the quays 3 and 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic mooring system for automatically berthing a ship on a quay.

[0002]

2. Description of the Related Art Conventionally, when a ship is docked on a quay,
After throwing the mooring line from the ship to the worker at the quay, the worker hooks it on the bollard on the quay, and the ship is moored by the winch on the ship side with the bollard as a fixed point, and the ship is berthed to the quay. Had been

[0003]

However, such berthing work has the following problems.

That is, as described above, when a ship is berthed to a quay, the mooring rope is thrown from the ship to a worker at the quay, and the worker hooks the mooring line on a bollard on the quay, which is a manual operation. Due to the weight of the mooring lines, it takes time and hard work.

[0005] Also, when the mooring line is wound up by the winch on the ship side with the bollard as a fixed point, it takes time to carefully berth the ship so as not to hit the quay.

[0006] Such work becomes more difficult when the wind waves are intense and in stormy weather, and the required time is increased.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and an object of the present invention is to provide an automatic mooring system capable of shortening the time required for mooring work, saving labor, and ensuring safety. is there.

[0008]

In order to achieve the above object, an automatic mooring system according to the present invention provides
The hull approaches the quay while absorbing the kinetic energy of the hull by the berthing energy absorption device installed on the quay,
Thereafter, the hull is automatically gripped by gripping means of an automatic mooring device installed on the quay.

According to such a configuration, the ship slowly approaches the quay while pushing the berthing energy absorbing device installed on the quay. Then, when the hull enters the work zone of the automatic mooring device installed on the quay, the gripping means of the automatic mooring device moves up and down, expands and contracts, and automatically grips the hull.

At this time, the automatic mooring device recognizes the mooring fitting of the hull by its monitoring camera, and the support arm moves up and down and expands and contracts to grip the mooring fitting, thereby positioning the gripping means at the tip of the support arm. Thereafter, the mooring fitting is gripped by the gripping means, and the hull is pulled to the quay and moored.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an explanatory diagram of an automatic mooring system according to the present invention. As shown in FIG. 1, the ship 1 is moored by four automatic mooring devices 2. Two of them are installed on the long straight quay 3 installed on the land side, and the other two are in the bay 4 in front of the quay 3.
Are installed on the quay 5 in the form of two offshore structures.

The former is installed at a predetermined interval in the front-rear direction of the hull 11, and the latter is installed at a predetermined interval in the left-right direction of the hull 11.

As shown in FIG. 2, the automatic mooring device 2 mainly includes a TV camera 6 for visually confirming a hull mooring fitting, a gripping hook 7, a hook supporting arm 8, and a supporting arm elevating device 9
It is composed of

The support arm elevating device 9 moves up and down along a guide frame 10 erected on the quays 3 and 5. The hook support arm 8 provided on the support arm lifting / lowering device 9 is formed to be extendable and contractable, and a gripping hook 7 is provided at the tip thereof.

Tilt of the hook support arm 8 (upward movement)
Is a first cylinder 14 provided in the support arm elevating device 9
The extension and retraction of the hook support arm 8 is performed by a second cylinder 15 provided in the support arm elevating device 9. The gripping hook 7 provided at the tip of the hook support arm 8 is formed in a U-shape, and a third cylinder 18 that opens and closes an opening 17 at one sharp end 16 thereof.
Is provided.

The TV camera 6 is provided on the support arm lifting / lowering device 9 so as to visually recognize a U-shaped or U-shaped mooring fitting 19 attached to the hull 11.

A control box 20 installed on the top of the guide frame 10 is used for raising and lowering the support arm lifting / lowering device 9, expanding and contracting and tilting the hook support arm 8, and opening and closing the gripping hook 7 based on the visual recognition of the TV camera 6. Are to be implemented.

On the other hand, a berthing energy absorbing device 21 is installed near the automatic mooring device 2. This device 21
Is a rubber shore contact plate 23 provided at the front end of the guide pipe 22, a pair of front and rear guide hardware 24 slidably supporting the guide pipe 22, and a guide pipe 22.
And an oil damper 25 installed at the rear of the ship to absorb the berthing energy of the ship.

As shown in FIG. 3, this oil damper 2
5 is provided with a throttle valve 29 in the middle of a pipe 28 communicating the cylinder 26 and the oil tank 27 so as to absorb the berthing energy of the boat 1. In the drawing, reference numeral 30 denotes a rod, and 31 denotes a return spring.

Next, the operation of the automatic mooring device and the berthing energy absorbing device will be described.

First, the stern portion 13 of the hull 11 is gripped by the automatic mooring devices 2a respectively installed on the two offshore structure-shaped quays 5 of the ship 1 that has been backing for berthing. The two automatic mooring devices 2b installed on the straight quay 3 provided at
2 is gripped.

At this time, the automatic mooring device 2 and the berthing energy absorbing device 21 operate as follows.

The ship 1 that has been backed up first has a stern 1
3 contacts the receiving plate 23 of the shore energy absorbing device 21 installed in front of the marine structure type quay 5 and pushes it back to the marine structure type quay 5 side. Then, the force is transmitted to the oil damper 25 via the receiving plate 23 and the guide pipe 22, and the berthing energy of the marine vessel 1 is absorbed.

When the stern 13 enters the working zone of the automatic mooring device 2a, it is automatically gripped by the gripping hook 7 of the automatic mooring device 2a installed on the quay 5 in the form of a marine structure. At that time, the U-shaped or U-shaped mooring fitting 19 attached to the stern portion 13 is recognized by the TV camera 6, and the support box elevating device 9 and the first and second cylinders are received by the control box 20 receiving the signal. 14 and 15 are controlled.

That is, as shown in FIG. 2, the support arm elevating device 9 moves up and down along the guide frame 10 as shown by the arrow a or b, and the hook support arm 8 is moved by the second cylinder 15 to the arrow c or d. And is tilted by the first cylinder 14 as shown by an arrow e or f. Then, the grip hook 7 at the tip of the hook support arm is positioned. At that time, the grip hook 7 is located directly above the mooring fitting 19 of the stern portion 13.

When the hook support arm 8 is lowered in the direction of the arrow b or tilted in the direction of the arrow f, the U-shaped gripping hook 7 is turned into a U-shaped or U-shaped mooring fitting 19.
Fits. At the same time, the third cylinder 18 is extended to close the opening 17 of the gripping hook 7 and the mooring fitting 19 of the stern 13 is gripped. Then, hook support arm 8
Is contracted in the direction of arrow c to bring the stern portion 13 closer to the quay 5 in the form of a marine structure.

After the stern portion 13 of the hull 11 is gripped by the automatic mooring device 2a installed on the quay 5 in the form of a marine structure, the automatic mooring device 2b installed on the straight quay 3 and the berthing energy absorbing device Hull 1 by 21
Although the port 12 is grasped, it operates in the same manner as the automatic mooring device 2a and the berthing energy absorbing device 21 installed on the quay 5 in the form of a marine structure, and therefore detailed description is omitted.

At the time of leaving the shore, the hull 11 is pushed out of the quays 3 and 5 by extending the hook support arms 8 of the automatic mooring devices 2a and 2b installed on the quays 3 and 5.

As for the automatic mooring device 2b installed on the straight quay 3 provided on the land side, the one on the bow side may be left and the one on the stern side may be omitted if desired.

[0031]

As described above, according to the present invention, at the time of berthing of a ship, the kinetic energy of the hull is first absorbed by the berthing energy absorbing device installed on the quay, and thereafter, the automatic mooring device installed on the quay is grasped. Since the hull is automatically gripped by the means, the hull can be safely and quickly berthed to the quay without colliding with the quay. In addition, since it is automated, labor saving can be achieved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of an automatic mooring system according to the present invention.

FIG. 2 is a perspective view including a partial cross section of the automatic mooring device.

FIG. 3 is a schematic diagram of an oil damper.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Ship 2 Automatic mooring device 3, 5 Wharf 7 Grasping means 11 Hull 21 Berthing energy absorbing device

Claims (2)

[Claims] At the time of berthing of a ship, the hull is made to approach the quay while absorbing the kinetic energy of the hull by a berthing energy absorbing device installed on the quay. An automatic mooring system characterized by automatic gripping. 2. A mooring device of a hull is recognized by a monitoring camera of an automatic mooring device, and a support arm is moved up and down to expand and contract to grip the mooring device, thereby positioning a gripping means at a tip of the support arm. 2. The automatic mooring system according to claim 1, wherein the mooring fitting is gripped by the gripping means, and the hull is drawn to the quay and moored.