WO2004076273A1

WO2004076273A1 - Boat mooring system.

Info

Publication number: WO2004076273A1
Application number: PCT/IT2003/000110
Authority: WO
Inventors: Aldo Bruno Merlo; Salvatore Giambrone
Original assignee: Merlo Group Limited
Priority date: 2003-02-28
Filing date: 2003-02-28
Publication date: 2004-09-10
Also published as: AU2003220812A1

Abstract

A mooring system for the boat (V) comprises guide means (11), positioned on the shore or on a substantially fixed structure, particularly on a dock (B) or the like, anchoring devices (25, 25’), each of which is provided with movement means (32, 33) for moving them along guide means (11) and with a telescopic arm member (45) which can be selectively elongated or retracted, provided at one end with an elongate element (47), and receiving devices (100, 100’) positioned on the boat (V) for coupling to the anchoring devices (25, 25’) and with locking means (112, 113, 113a) for selectively engaging with the elongate element (47) in a condition in which the elongate element (47) is received in the socket (101), in such a way as to prevent the uncoupling of the anchoring device (25, 25’) from the receiving device (100, 100’). The anchoring devices (25, 25’) comprise means of orientation (42a, 42b, 43a, 43b) for causing the rotation of the telescopic arms (45) and, by interacting with the said movement means (32, 33), for aligning the telescopic arms (45) of the anchoring devices (25, 25’) with the corresponding receiving devices (100, 100’) on the boat (V) I such a way as to permit the coupling of the corresponding elongate elements (47) to the receiving devices (100, 100’).

Description

BOAT MOORING SYSTEM

The present invention relates to a mooring system for boats .

This mooring system, known from Iteilian patent application PA99A000008, comprises a lower section, movable on a rail positioned, for example, on a dock, and an upper section provided with a hydraulic piston. The piston is provided at one end with a bar having a rounded end, on the sides of which a notch is formed, this notch being capable of engaging with a corresponding formation on the structure of a boat. Unlike conventional mooring systems, this system dispenses with the use of ropes, cables, anchors or similar devices.

The object of the present invention is to provide an improved mooring system, without ropes, cables, anchors or the like, which is capable of securing a boat to a shore structure or other substantially fixed structure and of positioning it in a desired configuration, and which can also be adapted to boats of different sizes.

According to a first aspect of the invention, therefore, a mooring system for a boat having the characteristics specified in Claim 1 is proposed.

Particular embodiments of the mooring system are specified in dependent Claims 2 to 12.

According to a second aspect of the invention, a mooring system for a boat having the characteristics specified in Claim 13 is proposed.

Particular embodiments of the mooring system are specified in dependent Claims 14 to 18. According to a third aspect of the invention, a receiving device of a mooring system for a boat having the characteristics specified in Claim 19 is proposed.

A particular embodiment of the receiving device is specified in dependent Claim 20.

A preferred but non-limiting embodiment of the invention will now be described with reference to the appended drawings, in which:

Figure 1 is a schematic side elevation of a device of the mooring system according to the invention;

Figure 2 is a block diagram which illustrates the control circuit of the device of Fig. 1;

Figure 3 is a schematic longitudinal section through a second device of the mooring system according to the invention;

Figure 4 is a block diagram which illustrates the control circuit of the device of Fig. 3;

Figure 5 is a block diagram which illustrates the electronic circuit of a control station of the mooring device according to the invention; and

Figures 6 to 12 are views which illustrate operating positions of the mooring system according to the invention.

A mooring system according to the invention comprises a shore-based unit 10 (shown in Fig. 1) , to be installed on a dock B or other substantially fixed structure, and a control station 15 of the mooring system (shown in Fig. 5) , comprising a unit 16 for reading the state of the system and a unit 17 for commanding the movement of this system. The shore-based unit 10 comprises a fixed guide structure 20, which includes a guide 11 which extends along the plane of the dock B and is formed from a plurality of cylindrical tubular elements 12, made for example from AISI 316 stainless steel, which are aligned with and joined to each other. Each of these tubular elements 12 has an internal void 12a, designed in such a way as to limit the overall mass of the guide 11 without excessively reducing its strength. Advantageously, the void 12a allows control devices, cables, pipes, etc. to be housed within it. The guide 11 is supported by a plurality of pillars or plinths 13 , made for example from cast iron, and having their tops shaped to allow the mounting of the guide 11. The plinths 13 are fixed to the deck of the dock B by means of a sandwich structure 14 formed by a lower plate 15 and an upper plate 16, made from steel for example, and a silent-block system interposed between these, to impart a limited flexibility to the guide 11, providing it with a degree of freedom perpendicular to the plane of the dock B. The lower plate 15 is mounted on the dock B, for example by embedding it in the cement of the deck of the dock B, and has stud bolts 17, screwed into it and embedded below in the binding cement, which enable the upper plate 16 to be fixed on top by means of nuts 17a. The upper plate 16 is provided with through holes for the passage of the stud bolts 17, to allow this upper plate 16 to move relative to the lower plate 15.

In an alternative embodiment (not shown) , the elements 12 of the guide 11 and the corresponding plinths 13 can be made in one piece, and the guide 11 can be prismatic instead of cylindrical, with a section of the dovetail type commonly used in machine tools. To reduce frictional resistance, the dovetail guide 11 can be made in the form of a rolling guide, comprising a plurality of crush-proof rollers arranged in one or more rows . The end rollers of each row are made in such a way that they are fixed with respect to the guide 11, in order to limit the travel of the other, inner, rollers, and are removable, to enable the inner rollers to be extracted for the purpose of replacement.

The shore-based unit 10 also comprises a plurality of mobile docking devices 25, one of which is shown in Figs. 1 and 2. The docking device 25 is formed by a carriage structure 30 mounted slidably on the guide structure 20, comprising a frame 31, made of steel for example, supported both on the guide 11 and on the deck of the dock B, by means of powered wheels 32. Each of these wheels 32 can be driven by a corresponding electric motor 33, mounted on the frame 31 of the carriage structure 30, in such a way as to cause the carriage structure 30 to move along the guide 11 of the guide structure 20. The electric motors of the wheels 32 are preferably of the direct current type, with controllable braking and locking and with the speeds of the motors synchronized. The braking is provided by the progressive slowing of the rotation of the armature of the electric motors 33. The motors of the wheels 32 are operated remotely, by means of a local control unit 34 (which is described in greater detail below) , according to signals transmitted by the control station.

The carriage structure 30 also houses a lubrication circuit (not shown) for the guide 11, comprising a main lubricant reservoir, which can be heated by electrical resistance means, a plurality of injectors opening on to the guide 11 for lubricating its surface in contact with the carriage structure 30, two scraper rings positioned on each side of the carriage structure 30, for scraping the surface of the guide 11 while the carriage structure 30 moves along it, thus guiding the lubricant into a recovery reservoir, a delivery pump, for pumping the lubricant from the main reservoir to the injectors, and a recovery pump, for pumping the lubricant from the recovery reservoir to the main reservoir. Finally, a protective casing 39 for the devices carried on the carriage structure 30 is mounted on the frame 31.

A docking structure 40 is mounted on the carriage structure 30 of the docking device 25. The docking structure 40 comprises a base 41 mounted on the carriage structure 30 by means of a silent block, in such a way that it is rotatable about an axis perpendicular to the plane of the dock B (in the direction of the arrow R) . The base 41 is provided on two opposite sides with upwardly bent portions 42, which have pins 43, on which one end of a telescopic arm 45 is mounted, in such a way that the arm 45 is rotatable about an axis parallel to the plane of the dock B (in the direction of the arrow T) , with a movement referred to below as "variation of the elevation" . The telescopic arm 45 is formed from a double-acting telescopic hydraulic cylinder, comprising a stage 45a fixed directly to the pins 43, an intermediate stage 45b slidable in the preceding stage, and a terminal piston 45c, slidable in the intermediate stage 45b. The terminal piston 45c is provided at its free end with a substantially cylindrical coupling portion 47, capable of engaging in a corresponding formation located on the boat to be moored (which is described below) . The coupling portion 47 of the terminal piston 45c comprises a head portion 47a, at the proximal end of which is formed a groove 48 which extends circumferentially around the coupling portion 47. Preferably, this groove 48 has a substantially toroidal and asymmetric shape, and is formed by machining the coupling portion 47 in such a way as to produce a channel whose width varies along the circumference of the cross section of the coupling portion, and in particular is minimal at the highest point and maximal at the lowest point, diametrically opposite the former point. The bottom 48a of the groove 48 is curved, and has a radius of curvature which is smaller where the width of the groove is smaller, and greater where the width of the groove is greater.

The elongation and retraction (in the direction of the arrows E) of the telescopic arm 45, which are brought about by the movement of the intermediate stage 45fo and the terminal piston 45c of the hydraulic cylinder, are controlled by the local control unit 34 by means of a hydraulic circuit (not shown) which is also housed on the carriage structure 30.

On the base 41 of the docking structure 40 of the mobile , _„„

WO 2004/076273

docking device 25 there is also mounted a first mechanism 42a, of a known type (similar to those used for naval guns, for example) , operated by a first electric motor 42b, for the variation of the elevation (in the direction of the arrow T) of the telescopic arm 45, a second mechanism 43a, also of a known type (similar to those used for naval guns, for example) , operated by a second electric motor 43b, for the rotation of the base 41 in the direction of the arrow R, and a sensor 43c for detecting the rotation R of the base 41. All these devices are controlled by the local control unit 3 . An end-of-travel sensor 45d of the intermediate stage 45b and a transceiver 49 of the alignment and aiming system are located on the telescopic arm. This transceiver 49 receives the signals from the control station 15 and from an identical transceiver (described below) on board the boat, and is connected for operation to the local unit 34, to cause the rotation of the base 41 and the variation of the elevation of the telescopic arm 45.

The mooring system according to the invention also comprises an on-board unit installed on the boat. This on-board unit comprises a plurality of receiving devices, one of which is shown in Figures 3 and 4, and indicated in its entirety by the number 100. The receiving devices are positioned along the sides of the boat, in other words along its sides above the waterline, preferably at not less than three points on each side, particularly forward, amidships, and astern. The receiving device 100 shown in Fig. 3 comprises a casing 100a mounted on the side M and enclosing a substantially cylindrical cavity 101 whose axis lies transversely with respect to the side M, perpendicularly for example, and forms an aperture 102 on the outer face of the side M, for receiving the coupling portion 47 of the telescopic arm 45 of the mobile device 25 of the shore-based unit. The aperture 102 of the cylindrical cavity 101 has an edge 102a which is flared to assist the entry of this coupling portion 47. Around the cavity 101 there is a plurality of blind tubes 111 (of which there are preferably four) , which extend radially from corresponding apertures Ilia formed in the lateral surface of the cavity 101, and which are positioned angularly in such a way that they are spaced apart at equal intervals. These tubes 111 house corresponding double-acting hydraulic cylinders 112, provided with pistons 113 whose free ends are provided with heads 113a of substantially hemispherical shape. The hemispherical head 113a of each piston 113 can move along the corresponding tube 111 as a result of the sliding of the piston 113 inside the corresponding cylinder

112. The cylinders 112 are arranged in such a way that, when the piston 113 is at the end of its stroke, the hemispherical head 113a is at least partially inside the cavity 101 of the receiving device 100 of the on-board unit. Clearly, the hydraulic cylinders 112 can be replaced by similar devices, for example mechanical or electromechanical jacks.

The receiving device 100 also comprises: a hydraulic circuit 151 for the simultaneous operation of the plurality of cylinders 112 (in the direction of the arrows S) , this circuit being operated by a local control unit 160, communicating with the local control unit 34 of the mobile device 25 and with the control station of the mooring system by means of a sub-optical radio-frequency transceiver 160a, a sensor 160b for detecting a specified condition of insertion of the coupling portion 47 into the cylindrical cavity 101, using macroswitches for example, and sensors 160c for detecting the elongation of the pistons

113 , comprising means (not shown) for detecting a condition of coupling, for example macroswitches (the operation of which is described below) .

Finally, the receiving device 100 of the on-board unit comprises a hermetically sealing shutter 161, operable with a sliding movement (in the direction of the arrow G) to close the cylindrical cavity 101 when the unit is not in use. This movement can be provided by an electric motor 162, connected for operation to the local control unit 160 to drive a rack 163 which is integral with the shutter 161. If the thickness of the side M permits, a shutter (not shown) can be provided in a rearward position on the cylindrical cavity 101, for example on the inner face of the side M, to allow the receiving device 100 to be inspected and maintained from the inside of the boat .

With reference to Fig. 5, the operating unit 17 of the control station 15 of the mooring system comprises a processing unit 18, for processing the signals supplied by the reading unit 16, and a storage device 19, in which is stored a databank relating to the boats provided with receiving devices of the mooring system according to the invention. This databank holds a plurality of records, each of which is associated with a recognition code of a specific boat. Each record contains the operational data required for the operation of the system with a specific boat. This storage device has a writing device 19a connected to it for updating the databank, for example for adding a new record or for modifying an existing record. Preferably, each record contains the following data: the number of receiving devices in the median position (referred to below as central devices) on the boat. Since the receiving devices are preferably positioned along the sides of the boat in such a way that they are substantially equidistant from each other, there will be one central device if the total number of devices is an odd number, whereas there will be two central devices if the total number is even; the distance between the central devices . In the case of a single central device, this distance will be equal to zero; the docking distance, in other words the minimum distance f om the dock at which the docking procedure can star . This distance depends on the characteristics of the port, and is corrected by the processing unit 18 during the mooring operation to allow for the meteorological conditions; the longitudinal distance Δ^χ from the central device to each of the other receiving devices; the transverse distance Ay from the central device to each of the other receiving devices; and the difference in height AZ, between the central device and each of the other receiving devices .

If there are two central devices, the distances Δ^» Δy_# Δz relate to the median point of the segment identified by these central devices .

With reference to Figs. 2, 4 and 5, the local control unit 34 of each of the mobile docking devices 25 is connected for operation to the control unit 17 of the control station 15 by means of the transceiver 49, to cause the elongation of the telescopic arms 45, the traversing of the mobile devices 25 by means of the powered wheels 32, the rotation of the bases 41 by means of the rotation mechanisms 43a, and the variation of the elevation of the telescopic arms 45 by means of the elevation variation mechanisms 42a.

The data reading unit 16 of the control station 15 is connected for operation to the local control unit 34 of each of the mobile docking devices 25 by means of the transceiver 49, to determine the angle of rotation of the bases 41 by means of the rotation sensors 43c connected to the local unit 34, and the position of the receiving devices 100 relative to the mobile devices 25 on the basis of a position signal transmitted by the control units 160 of the receiving devices 100 to the control units 34 of the mobile devices 25.

Additionally, the local control unit 34 of each of the mobile docking devices 25 is connected for operation to the local control unit 160 of the corresponding receiving device 100 by means of the transceivers 49 and 160a, to activate this device 100 by means of a switch-on signal based on an end-of- travel condition detected by the end-of-travel sensor 45d connected to the local unit 34.

The control unit 160 of the central receiving device 100' (indicated here and below by the numerical reference 100' to distinguish it more clearly from the other receiving devices 100) is connected for operation to the data reading unit 16 of the control station by means of the transceiver 160a, for transmitting a signal indicating a recognition code of the boat.

The control unit 17 of the control station 15 is connected for operation to the local control unit 160 of each of the receiving devices 100, 100' by means of the transceivers 160a, for transmitting a consent signal and causing the transmission of the position signal .

The control unit 160 of each of the receiving devices 100, 100' is connected for operation to the corresponding insertion sensor 160b, to detect a specified condition of insertion of the coupling portion 47 of the docking device 25 into the cavity 101 of the receiving device 100, 100' and consequently to cause the heads 113a of the pistons 113 to move into the grooves 48 of the coupling portions 47 of the mobile devices 25 and to be engaged therein, and to the elongation sensors 160c, to detect a condition of engagement of these heads 113a in the grooves 48, and consequently to transmit a signal indicating completion of locking to the control station 15.

An example of operation of the mooring system according to the invention will now be described with reference to Figures 6 to 12.

At the start of the docking manoeuvre (in which a boat V is located in the position shown in Fig. 6) , an operator at the control station 15 causes the elongation of the telescopic arms 45 of the mobile docking devices 25 over the whole working range of the intermediate stage 45b of the arms 45, by pressing a button 17a of the control unit 17 for example. An end-of-travel sensor 45d detects the state of this stage 45b, supplying a signal to the transceiver 49 of the aiming system of the telescopic arm 45, which sends a switch-on signal to the transceiver 160a of the corresponding receiving device 100 to activate the corresponding local control unit 160. The control unit 160 of the central receiving device sends, by means of its transceiver 160a, a signal indicating the recognition code of the boat, which is acquired by the reading unit 16 of the control station 15 and is then transmitted to the processing unit 18, which compares this code with the records of the databank in the storage device 19. When the record corresponding to the transmitted code has been identified, the processing unit 18 sends a reply signal, which is read by the transceiver 160a of each of the receiving devices 100, 100", which start to send an intermittent position signal. Preferably, this signal is sent in the form of radio waves at sub-optical frequency, in such a way as to prevent refraction and attenuation caused by drizzle or fog.

The transceiver 49 of the aiming system of the telescopic arm 45 of the central mobile docking device 25' (indicated here and below by the numerical reference 25' to distinguish it more clearly from the other mobile devices 25) acquires this position signal and transmits it to the data reading unit 16 of the control station 15, and on the basis of this signal the processing unit 18 determines the co-ordinates of the central receiving device 100' with respect to the central mobile docking device 25' (relative distance d', azimuth angle φ and angular deviation θ) • Simultaneously, at least one of the other receiving devices 100 sends a position signal to the corresponding shore-based mobile docking device 25, whose aiming system, unlike that of the central docking device 25 ' , only allows the data reading unit 16 of the control station 15 to determine the distance d between the two devices .

When the distances d and d' and the angular deviation θ have been determined, using the data on the boat V retrieved from the databank, the processing unit 18 of the control station can determine the angle formed by the longitudinal axis of the boat with the direction parallel to the dock, and then causes the mobile devices 25, 25' to move (in the direction of the arrows F) along the guide structure 20, and then causes the bases 41 of the arm structures 40 to rotate in such a way as to position the telescopic arms 45 in alignment with the receiving devices 100, 100' of the on-board unit, for example so that they are perpendicular to the longitudinal axis of the boat V (in plan view, as shown in Fig. 7) .

When the azimuth angle φ (shown in Fig. 8) has been determined, using the data on the boat retrieved from the databank, the processing unit 18 of the control station 15 can cause the variation of the elevation of the telescopic arms 45 in such a way that the arms are aligned, possibly vertically, with the corresponding receiving devices 100 (as shown in Fig. 9) .

The movement of the mobile devices 25, 25', the rotation of the bases 41 and the elevation of the arms 45 can take place simultaneously or in a specified sequence. Independently of this, each type of movement relative to the central mobile device 25' is followed by the other mobile devices 25, in such a way that a movement substantially of the pantograph type is obtained.

When the condition of alignment has been reached, the control unit 17 of the control station 15 causes a further elongation of the telescopic arms 45 (shown in Fig. 10) , in such a way that the coupling portions 47 can be inserted into the corresponding receiving devices .

During the whole stage of movement of the mobile docking devices 25, 25", the data reading unit 16 of the control station 15 continues to read the positions of the receiving devices 100, 100' and the mobile docking devices 25, 25' with respect to each other, in such a way that it can correct the alignment of the system in real time to allow for any movements of the boat with respect to the dock.

When a condition has been reached in which the coupling portions 47 of the telescopic arms 45 are inserted sufficiently far into the cavities 101 of the receiving devices 100, 100' (this condition is detected by the sensor 160b) , the local control unit 160 of the receiving devices 100, 100' cause the hemispherical-head pistons 113 to close on to the grooves 48 of the coupling portions 47 of the telescopic arms 45 (as shown in Fig. 11) . When the elongation sensors 160c have detected the position of engagement of the hemispherical heads 113a in the grooves 48 (by using the means for detecting the coupling condition) , the local control units 160 of the receiving devices 100, 100' switch the system to a locking condition, in which the pistons 113 maintain their condition of elongation, and transmits a locking completion signal to the control station 15.

Following this signal, the control unit 17 of the control station 15 operates the mobile docking devices 25, 25', both by moving them along the guide 11 and by causing the elongation or retraction of the telescopic arms 45 and the rotation of the bases 41 of these arms 45, in such a way as to position the boat V so that it lies substantially parallel to the dock B (as shown in Fig. 12) . The condition of conclusion of the docking manoeuvre coincides with the position of maximum retraction of the telescopic arms 45. On completion of the docking manoeuvre, the control unit 17 of the control station 15 switches the system to a stand-by condition, in which the telescopic arms 45 remain in engagement with the receiving devices 100, 100', following the movements of the boat. If these movements exceed specified threshold values (these movements are detected by sensors located on the mobile docking devices 25, 25' for reading horizontal, orthogonal and rotary movements of the telescopic arms 45) , they return it to the optimal position, enabling the procedure by means of a combined audible and light signal .

The telescopic arms and the mobile docking devices can follow the rolling and pitching movements, using the sensors described above. In stand-by conditions also, a movement of the boat B detected by the sensors activates the local control unit 34 to rotate the bases 41 of the mobile docking devices 25, 25 ' .

If the boat has to be moved along the dock, it is simply necessary to operate the mobile docking devices 25, 25' of the shore-based unit in such a way as to make them move in a synchronized way along the guide 11.

During the unmooring manoeuvre, an operator on board the boat V operates the local control unit 160 to cause the opening of the hemispherical-head pistons 113 of the receiving devices 100, 100', causing the disengagement of the hemispherical heads 113a from the grooves 48 of the coupling portions 47 of the telescopic arms 45. When the condition in which the hemispherical heads 113a have been disengaged from the grooves 48 has been recognized by means of the macroswitches 160c, the control unit 17 causes the telescopic arms 45 to retract until the coupling portions 47 are extracted from the corresponding receiving devices 100, 100'. The unmooring manoeuvre can also be started automatically, for example because of the occurrence of emergency conditions due to excessive wave motion. The emergency unmooring is activated by end position sensors.

In an alternative embodiment of the invention (not shown) , the control unit 17 of the control station 15 is at least partially operated by an operator, and therefore the movements of the components of the mooring system are guided manually, by means of a joystick or keyboard for example, while the data received from the reading unit 16 are communicated to the operator by means of a monitor or similar means of displaying the state of the system. The reading unit 16 preferably has a safety device (not shown) which, when it detects a lack of alignment between the telescopic arms 25, 25' and the receiving devices 100, 100', prevents the operator from causing the elongation of the telescopic arms .

In a further alternative embodiment of the invention (not shown) , usable particularly in emergency conditions in which the automatic control system is substantially out of action, the mooring system also lacks the system of detecting the relative distances d and d', the azimuth angle φ and the angular deviation Q, and therefore the movement of the mobile docking devices commanded by the operator is carried out by sight, requiring only the operation of the alignment transceiver system.

Claims

1. A mooring system for a boat (V), comprising: guide means (11) , positioned on a shore or on a substantially fixed structure, particularly on a dock (B) or the like, a plurality of anchoring devices (25, 25'), each provided with movement means (32, 33) for moving it along the said guide means (11) , and with a telescopic arm member (45) which can be selectively elongated or retracted, provided at one end with an elongate element (47) , and a plurality of receiving devices (100, 100') positioned on the boat (V) for coupling to the anchoring devices (25, 25'), each receiving device being provided with a socket (101) for receiving the corresponding elongate element (47) of one of the anchoring devices (25, 25'), and with locking means (112, 113, 113a) for selectively locking the elongate element (47) in a condition in which the said elongate element (47) is received in the said socket (101) , in such a way as to prevent the uncoupling of the anchoring device (25, 25') from the receiving device (100, 100'), characterized in that the said anchoring devices (25, 25") comprise means of orientation (42a, 42b, 43a, 43b) for causing the rotation of the telescopic arms (45) and, by interacting with the said movement means (32, 33) , for aligning the telescopic arms (45) of the anchoring devices (25, 25') with the corresponding receiving devices (100, 100') on the boat (V) in such a way as to permit the coupling of the corresponding elongate elements (47) to the receiving devices (100, 100').

2. A system according to Claim 1, in which the said means of orientation (42a, 42b, 43a, 43b) can simultaneously rotate the telescopic arms (45) of the said plurality of anchoring devices (25, 25 ' ) .

3. A system according to one of the preceding claims, in which each of the said anchoring devices (25, 25') comprises a carriage structure (30) which is movable along the said guide

(11) and which supports the said telescopic arm member (45) by means of a base member (41) , which is mounted on the said carriage structure (30) in such a way that it is rotatable about an axis substantially perpendicular to the plane of the said dock (B) , and on which the said telescopic arm member (45) is mounted in such a way that it is rotatable in a plane substantially perpendicular to the plane of the said dock (B) , the said means of orientation comprising means of rotation, capable of causing the rotation of the said base member (41) , and means of varying the elevation, capable of causing a variation of the elevation of the said telescopic arm member.

4. A system according to one of the preceding claims, in which at least one of the said anchoring devices (25, 25') comprises aiming means (34, 49) which can determine the position of the corresponding receiving device (100, 100') on the boat (V) with respect to the said anchoring device (25, 25") and provide a position signal.

5. A system according to Claim 4, additionally comprising a central control unit (15) provided with a storage device (19) for storing indicative parameters of a specified boat, the said central control unit (15) being capable of causing the movement of the said anchoring devices (25, 25') and the rotation of the said telescopic arm members (45) according to the said position signal and the said parameters of the boat.

6. A system according to one of the preceding claims, in which the said elongate element (47) of the telescopic arm member (45) comprises a head portion (47a) , at the proximal end of which is formed a groove (48) extending circumferentially around the head portion (47a) , the said groove (48) being engageable by the said locking means (112,

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7. A system according to Claim , in which the said groove (48) is of substantially toroidal and asymmetric shape, with its width varying along the circumference of the cross section of the head portion (47a) .

8. A system according to Claim 7, in which the said groove (48) has its minimum width at the highest point, and its maximum width at the lowest point, diametrically opposite the former point .

9. A system according to Claim 8, in which the bottom (48a) of the said groove (48) is curved, and has a radius of curvature which is smaller where the width of the groove (48) is smaller, and greater where the width of the groove (48) is greater .

10. A system according to one of Claims 6 to 9, in which the said socket (101) in each of the receiving devices (100, 100') comprises a casing (101a) which forms a cavity with an aperture (102) for receiving the said elongate element (47) of the telescopic arm member (45) , and the said locking means (112, 113, 113a) comprise a plurality of movable members (113) , provided with formations (113a) for selectively engaging in the said groove (48) of the elongate element (47) of the telescopic arm member (45) in a condition in which the said elongate element (47) is inserted into the said cavity (101) .

11. A system according to Claim 10, in which the said movable members comprise piston elements (113) positioned radially around the said cavity (101) of the receiving device

(100, 100"), and the said formations (113a) comprise end heads (113a) of the pistons (113) of substantially hemispherical shape, which can engage in the said groove (48) of the elongate element (47) .

12. A system according to Claim 11, in which the said receiving devices (100, 100') comprise sensor means (160b) capable of detecting a specified condition of insertion of the said elongate element (47) and consequently supplying an insertion signal, and a control unit (160) connected for operation to the said sensor means (160b) and capable of activating the engagement of the said locking means (112, 113, 113a) in response to the said insertion signal.

13. An anchoring device (25, 25') of a mooring system for a boat (V) , comprising a carriage structure (30) , designed to be positioned on a shore or on a substantially fixed structure, particularly on a dock (B) or the like, and provided with driving means (32, 33) capable of moving it along the said dock (B) , and a telescopic arm member (45) which can be selectively elongated or retracted and which is supported by the said carriage structure (30) and provided at one end with an elongate element (47) for coupling to a corresponding receiving device (100, 100") positioned on board the boat (V) and provided with a socket (101) for receiving the said elongate element (47) , characterized in that it also comprises means of orientation (42a, 42b, 43a, 43fo) for causing the rotation of the telescopic arm (45) and, by interacting with the said movement means (32, 33) , for aligning the telescopic arm (45) with the said receiving device (100, 100') on the boat (V) in such a way as to permit the coupling of the said elongate elements (47) to said socket (101) of the receiving device (100, 100') on the boat (V).

1 . A device according Claim 13 , in which the said carriage structure (30) supports the said telescopic arm member (45) by means of a base member (41) , which is mounted on the said carriage structure (30) in such a way that it is rotatable about an axis substantially perpendicular to the plane of the said dock (B) , and on which the said telescopic arm member (45) is mounted in such a way that it is rotatable in a plane substantially perpendicular to the plane of the said dock (B) , the said means of orientation (42a, 42b, 43a, 43b) comprising means of rotation (43a, 43b) , capable of causing the rotation of the said base member (41) , and means of varying the elevation (42a, 42b) , capable of causing the variation of the elevation of the said telescopic arm member.

15. A device according to one of Claims 13 or 14, in which the said elongate element (47) of the telescopic arm member (45) comprises a head portion (47a) , at the proximal end of which is formed a groove (48) extending circumferentially around the head portion (47a) , the said groove (48) being engageable by the said locking means (112, 113, 113a) .

16. A device according to Claim 15, in which the said groove (48) is of substantially toroidal and asymmetric shape, with its width varying along the circumference of the cross section of the head portion (47a) .

17. A device according to Claim 16, in which the said groove (48) has its minimum width at the highest point, and its maximum width at the lowest point, diametrically opposite the former point.

18. A device according to Claim 17, in which the bottom (48a) of the said groove (48) is curved, and has a radius of curvature which is smaller where the width of the groove (48) is smaller, and greater where the width of the groove (48) is greater.

19. A receiving device (100, 100') of a mooring system for a boat (V) , designed to be positioned on the boat (V) , comprising a socket (101) for receiving an elongate anchoring element (47) connected to the shore or to a substantially fixed structure and provided with terminal formations (48) , and locking means (112, 113, 113a) capable of selectively engaging in the said terminal formations of the elongate anchoring element (47) in the condition in which the said elongate element (47) is inserted into the said socket (101) , in such a way that the uncoupling of this element from the receiving device (100, 100') is prevented, characterized in that it comprises sensor means (160b) capable of detecting a specified condition of insertion of the said elongate element (47) and consequently supplying an insertion signal, and a control unit (160) connected for operation to the said sensor means (160b) and capable of activating the engagement of the said locking means (112, 113, 113a) in response to the said insertion signal.

20. A device according to Claim 19, in which the said socket (101) comprises a casing (101a) which forms a cavity with an aperture (102) for receiving the said elongate anchoring element (47), and the said locking means (112, 113, 113a) comprise a plurality of movable members (113) , provided with formations (113a) for selectively engaging in the said terminal formations (48) of the elongate anchoring element (47) in a condition in which the said elongate element (47) is inserted into the said cavity (1₀1) .