WO2009054739A1 - Automated docking and mooring system - Google Patents
Automated docking and mooring system Download PDFInfo
- Publication number
- WO2009054739A1 WO2009054739A1 PCT/NZ2008/000281 NZ2008000281W WO2009054739A1 WO 2009054739 A1 WO2009054739 A1 WO 2009054739A1 NZ 2008000281 W NZ2008000281 W NZ 2008000281W WO 2009054739 A1 WO2009054739 A1 WO 2009054739A1
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- WO
- WIPO (PCT)
- Prior art keywords
- mooring
- vessel
- robot
- facility
- movement
- Prior art date
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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
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- 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
Definitions
- the present invention relates to a mooring system for receiving and mooring a vessel, as well as a method of mooring a vessel.
- fenders buffer elements, commonly known as fenders, are used to provide a resilient shock absorbing interface for absorbing the energy of an approaching vessel. Examples of fenders include large tyres, rubber bricks, timber cladding, and the like. Typically, once a ship has been moored against a terminal, it is held tight against the fenders to prevent it from moving around under the force of wind, tides or swell.
- Mooring robots are known for use in mooring ships to terminals.
- the mooring robot can position the vacuum cups within a 3-dimensional operating envelope.
- An arm linkage is provided for extending and retracting the vacuum cups in the transverse direction.
- the present invention consists in a mooring system, suitable for mooring an approaching vessel at a terminal by at least one mooring facility mounted mooring robot that includes an engaging mechanism actuatable to engage with a vessel and a moving mechanism for moving the engaging mechanism relative to said mooring facility, said mooring system comprising a location sensing system suitable for sensing the location of a vessel and generating a location signal corresponding to the sensed location of the vessel, and movement calculating instructions for instructing a processor to use the generated location signal for calculating an index indicative of the movement required of at least one mooring robot in order to engage the engaging mechanism of said at least one mooring robot with the vessel without causing significant initial change in inertia of the vessel.
- the movement calculating instructions are for also for calculating an index indicative of the movement required of at least one mooring robot in order to stop the moving vessel without a sudden deceleration in at least a direction of movement of the vessel towards the mooring facility.
- the mooring system includes movement directing instructions configured for directing a control system to control the movement of said at least one mooring robot in accordance with the calculated index(es).
- the movement directing instructions are configured for directing at least one mooring robot to extend the engaging mechanism away from the mooring facility and towards the approaching vessel, and then retract the engaging mechanism towards the mooring facility at a velocity smaller than the velocity of the approaching vessel in that direction so that the vessel makes initial contact with the mooring robot in a manner that is not damaging to the vessel and/or mooring robot.
- the movement directing instructions are configured for directing a plurality of mooring robots of the mooring system that are arranged in an array at said mooring facility.
- the movement directing instructions are configured for directing a plurality of mooring robots to provide an optimised array configuration for absorbing the kinetic energy of an approaching vessel in a manner that is not damaging to the vessel and/or mooring robot.
- the optimised array configuration includes the arrangement of the engaging mechanisms of the each mooring robot such that they all engaged with the vessel simultaneously.
- the optimised array configuration includes the arrangement of the engaging mechanisms of the each mooring robot such that they all engaged with the vessel non-simultaneously and preferably sequentially.
- the mooring robots are positioned in a linear array relative the mooring terminal and the optimised array configuration includes the arrangement of the engaging mechanisms in a manner that results in not all engaging simultaneously with the vessel when the vessel, having a port or starboard side, is approaching the array with the port or starboard sides not parallel to the array.
- the movement directing instructions are configured for directing at least one mooring robot to engage with and interact with the vessel to reduce its kinetic energy.
- the movement directing instructions are configured for directing at least one mooring robot to engage with and interact with the vessel to damp its kinetic energy in an optimised manner.
- the moving mechanism includes at least one hydraulic cylinder, and kinetic energy of the approaching vessel is reduced by the flow of fluid through the hydraulic cylinder.
- the mooring system includes a control system for controlling movement of the moving mechanism in accordance with that directed by the movement directing instructions.
- the mooring system includes a processor for performing calculations.
- the mooring system includes at least one storage means for storing the movement calculating instructions or movement directing instructions or both.
- the mooring system includes a transceiver for receiving and transmitting signals.
- the location sensing system includes at least one Global Positioning
- GPS Global System
- the GPS can determine to location of the vessel or part of the vessel relative the engaging mechanism of the and/or each mooring robot.
- the location sensing system includes at least one localised distance sensing system and/or a localised positioning system.
- the localised distance sensing system includes a distance sensor fixed relative to one of the mooring robot and mooring facility.
- the distance sensor can determine to location of the vessel or part of the vessel relative the engaging mechanism of the and/or each mooring robot.
- the mooring system includes at least one mooring robot.
- the mooring system includes a plurality of mooring robots.
- control system controls each of the plurality of mooring robots to be controlled independendy of each other.
- control system controls each of the plurality of mooring robots to be controlled independently of each other but operate in concert with each other.
- one or more selected from the movement calculating instructions and the movement directing instructions is configured to receive information relating to the characteristics of the vessel to be moored.
- the characteristics are one or more selected from unladen weight, laden weight, length, and any other characteristic of the vessel.
- the mooring system is configured to receive information about characteristics of the vessel from the vessel's Automatic Identification System.
- one or more selected from the movement calculating instructions and the movement directing instructions utilises the location signal to direct the processor to calculate an index indicative of one or more selected from the velocity of the vessel relative to the terminal, the acceleration or deceleration of the vessel, the kinetic energy of the vessel, and the inertia of the vessel.
- the mooring system includes at least one emergency buffer element suitable for absorbing the energy of an approaching vessel with kinetic energy which is in excess of that absorbable by the mooring robots in a direction toward the mooring facility, thereby to provide additional protection for the vessel, mooring facility an/or mooring robot.
- the emergency buffer element is moveable between a non-deployed position in which it can not contact the vessel and a deployed position in which the buffer element can contact the vessel, whether or not the engaging mechanism is also capable of engaging the vessel.
- the emergency buffer element is normally retained in the non- deployed position, and moves automatically to its deployed position upon detection, via the position sensor(s) and/or the mooring robots, that the vessel's kinetic energy is greater than what can be absorbed by the mooring robot(s).
- the emergency buffer element(s) operate automatically when one selected from the kinetic energy, the approach velocity, and the inertia of an approaching vessel is above a predetermined threshold.
- the emergency buffer element(s) operate automatically when one selected from the kinetic energy, the approach velocity, and the inertia of an approaching vessel is above a predetermined threshold for that vessel.
- the emergency buffer elements operate by means of known energy absorption systems such as airbags or the like, so that the emergency buffer elements can move to their deployed position rapidly.
- the mooring system includes a plurality of emergency buffer elements.
- the movement directing instructions are configured for directing the mooring robot(s) absorb as much energy of the approaching vessel as possible without being damaged, before withdrawing to a protected position in which the mooring robots are shielded from damage by the vessel by the buffer elements.
- the mooring system is configurable between an activated state in which the location sensing system of the system is operable to detect the location of an approaching moving vessel and control the mooring robot(s) in response to the detected location of the vessel, and a deactivated state in which the location sensing system is not operable.
- control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s) once the vessel has been docked.
- control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s), and to move the vessel to a predetermined configuration relative to the terminal once the vessel has stopped moving during initial docking of the vessel.
- control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s) during initial docking of the vessel to then exercise some control over the speed of the vessel in a direction towards the mooring facility and a horizontal direction perpendicular thereto.
- control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s), and to move the vessel to a predetermined distance relative to the terminal once the vessel has stopped moving during initial docking of the vessel.
- the mooring system uses information received from the Automatic Identification Systems (AIS) of individual vessels to identify the approaching vessel and determine relevant information relating to that vessel, such as weight, size, and the like.
- AIS Automatic Identification Systems
- the mooring system uses information received from the Automatic Identification Systems (AIS) of individual vessels to identify the approaching vessel and determine relevant information relating to that vessel, such as weight, size, for use in one or more selected from calculating an index indicative of the movement required of the mooring robot in order to engage the engaging mechanism with the vessel without causing significant initial change in inertia of the vessel; calculating an index indicative of the movement required of the mooring robot in order to further stop the moving vessel without it undergoing a sudden deceleration; and activating the mooring system to its active state.
- the mooring robot(s) are moveably disposed along the terminal.
- the mooring robot(s) are mounted on wheels.
- the mooring robot(s) are mounted on rails.
- the mooring robot(s) include independent driving mechanisms for moving the mooring robots along the terminal.
- the mooring robot(s) are remotely controllable to move along the terminal.
- the mooring robots are moveable by a separate driving mechanism.
- the mooring robots are movable once a vessel has been engaged and secured by the engaging mechanism of the mooring robot.
- the mooring facility of terminal is a wharf.
- the array of mooring robots are a linear array.
- the engaging mechanism of the mooring robots includes a suction cup in fluid communication with a vacuum source, which allows the suction cup to attach to the hull of the vessel by suction force.
- the engaging mechanism includes a protective member for protecting the suction cup form abrasion against the vessel when the engaging mechanism engages with the vessel during initial docking of the vessel.
- the protective member is moveable between a protective position in which the suction cup is protected from abrasion by the vessel, and a retracted position in which the suction cup can engage and secure with the vessel.
- the moving mechanism includes at least one moveable arm linkage located intermediate of a foundation of the mooring robot that is mounted to the mooring facility and the engaging mechanism.
- the moving mechanism allows controlled movement of the securing mechanism relative to the mooring facility.
- the present invention consists in a method of mooring a vessel utilising at least one mooring facility mounted mooring robot that comprising an engaging mechanism for engaging with the side of a vessel approaching a mooring facility, and a moving mechanism for moving the engaging mechanism, said method comprising the steps of measuring the location of a vessel relative to a terminal by way of a location sensing system; calculating an index value associated with the movement required by the mooring robot to engage the engaging mechanism with the vessel without causing significant initial change in inertia of the vessel; and controlling movement of the mooring robot in accordance with the calculated movement.
- the method includes the step of calculating an index indicative of the movement required of the mooring robot in order to slow the movement of the vessel towards the mooring facility, preferably without a sudden deceleration thereby preventing damaging collision of the vessel with the mooring facility.
- the method includes the steps of directing a controller to control movement a mooring robot in accordance with the calculated index to bring the vessel to a stop without a sudden deceleration.
- the method includes the step of activating the location sensing system to sensitise it to the approach of a
- the step of activating the location sensing system is carried out automatically by the Automatic Identification System (AIS) of the vessel.
- AIS Automatic Identification System
- the method includes the step of calculating an index indicative of the kinetic energy of the approaching vessel at least in a direction acting towards the mooring facility.
- the method includes the step of deploying an emergency buffer element in response to the calculated index indicative of the kinetic energy of an approaching vessel exceeding a certain limit, thereby to protect one or more of the vessel, the mooring facility and the mooring robot.
- the method includes the steps of extending at least part of engaging mechanism towards the approaching vessel, and then retracting the extended part at a velocity that is slower than the approaching vessel, thereby causing the approaching vessel to engage with the extended part without causing impact damage to the mooring robot and/or the vessel.
- the method includes the steps of activating the engaging mechanism to engage with and secure the vessel to the terminal.
- the method includes the step of moving the engaged and secured vessel to a predetermined position in relation to the terminal.
- the method includes the step of moving the engaged and secured vessel to a predetermined position in relation to the terminal by moving the moving mechanism.
- the method includes the step of moving the engaged and secured vessel to a predetermined position in relation to the terminal by moving the mooring robots in relation to the terminal.
- the present invention consists in a method of providing a mooring system suitable for receiving a vessel that is approaching a mooring facility that includes a plurality of mooring robots mounted to a mooring facility, said mooring robots including an engaging mechanism for engaging with the side of a vessel and a moving mechanism for moving the engaging mechanism relative the mooring facility, said mooring robots forming part of a system that comprises: a location sensing system suitable for sensing the location of and/or part of the vessel relative to the mooring facility and/or each of the mooring robots and/or each of the engaging mechanisms, and a processor for calculating movement required by the engaging mechanism of each mooring robot, and a controller to control movement of the mooring robots in response to information received from the processor, said method comprising the steps of providing movement calculating instructions for instructing the processor to use a generated location signal for calculating the movement required of each mooring robot in order to engage the engaging mechanism with the vessel without causing damage to the mooring robot and
- the method further includes the steps of providing movement directing instructions for directing the control system to control the movement of a mooring robot in accordance with the calculations carried out by the processor; and configuring the instructions to direct the control system to control the movement of a mooring robot in accordance with the calculations carried out by the processor.
- a set of instructions configured for guiding a processor to calculate a value associated with the movement required by the mooring robot to engage the engaging mechanism with the vessel without causing significant initial change in inertia of the vessel.
- the instructions are further configured for directing a control system to control the movement of a mooring robot in accordance with the calculations carried out by the processor.
- the present invention consists in a method of mooring a vessel utilising at least one mooring facility mounted mooring robot that comprising an engaging mechanism for engaging with the side of a vessel approaching a mooring facility, and a moving mechanism for moving the engaging mechanism, said method comprising the steps of; measuring the location of a vessel relative to a terminal by way of a location sensing system; calculating an index value associated with the movement required by the mooring robot to engage the engaging mechanism with the vessel in a condition to allow control of movement of the mooring robot to reduce the kinetic energy of the vessel in at least a direction acting towards the mooring facility by the mooring robot.
- the present invention consists in a mooring system for receiving and exercising at least partial control over the approach velocity of a vessel approaching a mooring facility, said system comprising: an array of mooring robots mounted to the mooring facility, each mooring robot including a base that is secured to the mooring facility and at least one vessel contact member supported by a moving mechanism in a manner to thereby be (i) movable relative to the mooring facility and ( ⁇ ) presentable to engage the side of said vessel, at least one sensor to sense the position of the vessel relative the mooring facility, a processor to receive information from the sensor about the location of the vessel, said processor capable of calculating movement instructions based on information received by the processor to calculate instructions for the movement of the contact member of each mooring robot during the receipt of the by the mooring system, a controller to (i) control the condition of each mooring robot to position their respective contact members in a position, prior contact with the vessel, in a manner where the mooring robot can reduce the approach speed of the vessel
- the base is secured to the mooring facility in a permanent and fixed manner.
- the base is secured to the mooring facility in a movable manner.
- the information received by the processor includes information from generated by the sensor about the position of the vessel.
- the information received by the processor includes the laden weight of the vessel approaching.
- the at least one contact member is a suction cup, that with suction establishable between the vessel and the suction cup can secure a mooring robot with the vessel.
- a second contact member is provided that can contact but can not secure with the vessel, the second contact member being movable relative to the suction cup to (i) be positioned in a manner to prevent the suction cup from engaging the vessel during receipt of the vessel, and (ii) be positioned in a manner to allow the suction cup to engage and become fastened to the vessel after initial receipt.
- the moving mechanism includes at least one hydraulic cylinder via which the force of the vessel applied via the contact member can at least in part be absorbed.
- the present invention consists in a mooring system for securing a vessel approaching a mooring facility said system comprising: a linear array of mooring robots mounted to the mooring facility, each mooring robot including a base that is secured to the mooring facility in a movable manner relative thereto and at least one suction cup supported by a moving mechanism in a manner to thereby be (i) movable relative to the mooring facility and (ii) presentable to engage to the side of said vessel, at least one sensor to sense the position of the vessel relative the mooring facility, a processor to receive information from the sensor about the location of the vessel, said processor capable of calculating movement instructions based on information received by the processor to calculate instructions for the movement of mooring robots in the array, a controller to control the position of the mooring robots relative to the mooring facility and relative to each other to control the number of the mooring robots of the array that are positioned in a location make contact with the approaching vessel.
- the present invention consists in a mooring facility that includes a mooring system as herein described.
- the present invention consists in a wharf that includes a plurality of wharf mounted mooring robots positioned in a linear array and that each include a suction cup moveably mounted relative the wharf for contacting and securing to a side of a vessel adjacent the wharf to hold the vessel adjacent the wharf, said suction cups controllable to be positioned for simultaneous engagement with an approaching vessel, including when the side of the vessel is not completely parallel to the linear array.
- the present invention consists in a wharf that includes a plurality of wharf mounted mooring robots positioned in a linear array and that each includes a suction cup moveably mounted relative the wharf for contacting and securing to a side of a vessel adjacent the wharf to hold the vessel adjacent the wharf, said suction cups controllable to be positioned for engagement with an approaching vessel, including, when the side of the vessel is not completely parallel to the linear array, in a non simultaneous manner.
- Figure 1 shows a vessel approaching the terminal in direction shown by arrows before engaging with the mooring robots
- Figure 2 shows the vessel having engaged with the mooring robots, and the mooring robots in the process of slowing the velocity of the vessel;
- Figure 3 shows the vessel having been brought to a halt and moored
- Figure 4 shows a side view of a known mooring robot.
- a mooring system according to a first aspect of the invention is generally indicated by the numeral 100.
- a mooring system 100 suitable for receiving and holding vessel 500 at a terminal 600 by means of a plurality of mooring robots 110.
- the mooring robots 110 include an engaging mechanism 120. This may include a suction cup 122 and associated vacuum source, which is actuatable to engage with and secure against a vessel 500 by suction.
- a moving mechanism 130 that includes arm linkages 132 are provided to move the suction cups. It is envisaged that the arm linkages 132 can be telescopic or articulated, and are moveable by a plurality of hydraulic cylinders 134, motors and gears may be used also. This allows for the suction cup to be moveable relative the terminal, in two and preferably in three, dimensions.
- the moving mechanism 130 may move the engaging mechanism 120 within its envelope, to where it is required, thereby exerting control (alone or in concert with other mooring robots) over a vessel 500 that is engaged with and/or secured to the engaging mechanism 120.
- the mooring system 100 further comprises a location sensing system suitable for sensing the location of an approaching vessel 500 and generating a location signal associated with the sensed location of the vessel 500.
- the location sensing system can include a Global Positioning System (GPS) that may include 1 or more GPS units 391 on board the vessel. This can transmit the location and/or velocity and/or change in velocity of the vessel 500 and/or parts of the vessel 500 from the vessel 500 to other parts of the location sensing system.
- GPS Global Positioning System
- the location sensing system could operate by using a localised distance sensor 390, or be fixed relative the terminal such as known laser, infrared beam, radar, or ultrasound distance sensors.
- a localised distance sensor 390 or be fixed relative the terminal such as known laser, infrared beam, radar, or ultrasound distance sensors.
- Such localised sensors can be disposed on the engaging mechanism 120 of each mooring robot 110 or be fixed relative the terminal.
- the relative distance and direction of travel of the approaching vessel sensed by the sensing system may be transmitted to a control system 160.
- the control system 160 is centralised, so that all of the mooring robots 110 can be independently controlled by the control system 160 according to the location of the vessel 500 in relation to each of the mooring robots 110.
- the localised distance sensors need only transmit the distance to a local control system 160 for a single mooring robot 110, so that the actions of that mooring robot alone are controlled by the controller. In this way, each individual mooring robot may operate independently.
- the mooring system 100 is actuatable between an activated condition in which the location sensing system is operable and the mooring robots 110 are in an armed mode.
- the robots In the armed mode the robots may be controlled for movement taking into account the sensed distance, speed, kinetic energy or acceleration/deceleration of the approaching vessel.
- the mooring robots In an unarmed mode the mooring robots are not in a state ready for operative engagement with a vessel but may have their sensors turned on to be able to detect vessels approaching.
- the mooring robots may have the location sensing system turned off or in an other condition where it will not sense the approach of a vessel 500.
- the mooring system 100 is manually actuatable between active and de-active states.
- the mooring system further comprises a set of movement calculating instructions such will take into account information from the location sensing system.
- This may be in embodied in the form of software operable on a computer.
- the set of movement calculating instructions can be embodied by software which is configured for instructing a processor.
- the generated location signal may be used for calculating two index values.
- the first index value is indicative of the movement required of the mooring robot 110 in order to engage the suction cups with the vessel 500 without causing significant initial change in inertia of the vessel 500 (i.e. without it hitting the suction caps hard, thereby damaging either the vessel 500, the terminal 600 or the mooring robot 110).
- the movement calculating instructions also calculates a second index value or set of index values indicative of the movement required of the mooring robot 110 in order to reduce speed of the moving vessel 500 to preferably substantially bring the vessel to a halt. Again, preferably without any sudden deceleration.
- control is exercised over the vessel by a or each mooring robot in a way to prevent damaging collision of the vessel with the terminal 600 and/or the mooring robot 110.
- the second index may also provide instructions for the operational condition or conditions in which the mooring robot needs to be in, during initial contact and/or after initial contact with a vessel. Such is preferably in order to allow the operation of the mooring robot to occur, during the docking of a vessel, in a manner that prevents damage to the vessel, mooring robot(s) and/or terminal. For example, a large force may need to be exerted on the approaching vessel in order to bring it to a halt. This may require the suction pressure and the hydraulic pressures to be set at a maximum.
- the movement calculating instructions may also include calculation to determine if a mooring robot can be placed in a condition to safely engage with a vessel during the docking procedure.
- the movement range required to bring the vessel to a halt is beyond that which the mooring robot is able to handle. It may be that in concert with the other mooring robots that are to engage with the vessel, the mooring robot can not be operated safely to bring the vessel to a halt. This may result in the mooring robot being moved to a condition, isolating it from contact with the vessel. However, it may also result in contact being established to help reduce the velocity of the vessel. Such contact may be temporary as release from contact may be needed if for example the limit of travel of a suction cup is reached.
- the control system 160 may include a controller connected to switches for actuating mooring robots condition and/or position change in accordance with the index(es).
- the control system 160 controls the movement of the mooring robots 110 in accordance with the directions from the movement directing instructions.
- the processor can be a dedicated processor (typically in a computer) installed particularly for the mooring system, or it may be typically present as part of other systems present on the terminal and/or vessel.
- the software instructions will typically be stored on a storage means such as digital storage means in the form of a computer hard disk, chip or the like.
- the mooring system 100 may also use information from or derived from systems such as Automatic Identification Systems (AIS) to identify the approaching vessel 500, and to obtain relevant information about that vessel 500, such as its loaded and unloaded weight, size and mass and the like.
- AIS Automatic Identification Systems
- the movement calculating instructions and movement directing instructions may use differentials of the location signal in directing the processor to calculate the indexes and directing the controller to control the movement and/or condition of the mooring robot.
- the movement calculating instructions and movement directing instructions can use one or more selected from o the velocity of the vessel relative to the terminal, o the acceleration or deceleration of the vessel, o the kinetic energy of the vessel, and o the inertia of the vessel.
- Some or all of this information can then be used in calculating an index indicative of the movement required of the mooring robot in order to engage the suction cups with the vessel without causing significant initial change in inertia of the vessel; calculating an index indicative of the movement required of the mooring robot in order to further stop the moving vessel without it undergoing a sudden deceleration; and/or activating the mooring system to an active state.
- the active state may be variable. For example if a large vessel is approaching or if the energy needed to bring the vessel to a stop is large, the mooring robot may be put in a state that can absorb such energy, which may be a different state if the vessel is smaller or travelling less fast.
- the movement calculating instructions and movement directing instructions can use combinations of the velocity or acceleration of the vessel together with known mass and size figures for the vessel which are input by an operator, or these figures can be obtained from known information systems, such as AIS.
- the mooring system 100 includes a plurality of emergency buffer elements 170 associated with each mooring robot 110. These emergency buffer elements 170 are suitable for absorbing the energy of an approaching vessel 500 which has kinetic energy or velocity which is in excess of that absorbable by the mooring robots 110. Thus the emergency buffer elements 170 provide additional emergency protection for the vessel 100, terminal 600 or mooring robot 110. It is envisaged that the emergency buffer elements 170 are moveable between a non-deployed position in which they do not obstruct normal operation of the mooring robot 110, and a deployed position suitable for protecting one or more of the terminal 600, the vessel 500, and the mooring robot 110.
- the emergency buffer elements 170 are retained in the non-deployed position, and move automatically to their deployed positioning in the event of an emergency situation being detected. Such a situation would typically be when the kinetic energy, the approach velocity, and/or the inertia of an approaching vessel 500 is above a predetermined threshold for that vessel 500.
- AIS can be used in determining the mass of that vessel 500 when calculating its kinetic energy or inertia (since these are proportional at least partly to that vessel's mass).
- the emergency buffer elements 170 operate by means of energy absorption systems such as airbags or the like, so that the emergency buffer elements 170 can move to their deployed position rapidly.
- the emergency buffer elements 170 can also be composed of timber or resilient material such as rubber.
- the primary direction of travel of the vessel, in which the system operates in relation to the buffer elements, is one parallel to the forces applied by the suction cups to the vessel. This is because the buffers can best help arrest athwartship direction movement of the vessel rather than fore/aft movement.
- the mooring robots 110 include wheels that are mounted on rails on the terminal. In such a way the mooring robots are moveable along the terminal 600. It is envisaged that the mooring robots 110 can be remotely controlled to move along the terminal 600, and may be self driven by their own independent driving mechanism, such as an engine and transmission or electric motor or the like. In yet another embodiment, the mooring robots may be moved by winches and winching cables attached to the either end of the mooring robots 110.
- the mooring robots 110 need not be rail mounted, but could have normal rubber wheels and can be driven by an operator like a vehicle.
- the mooring robots can be independently driven (preferably controlled by operators) to new positions along the terminal 600, according to the si2e of the vessel 500 to be docked and moored.
- the mooring robots 110 may be used to move the vessel 500 to a preferred position for unloading or unloading, or for increased safety. It is envisaged that the repeated collision of the suction cups 122 of the mooring robots 110 with the vessels could cause excessive abrasion of the suction cups 122. For this reasons, the mooring robots 110 may be provided with a protective member 264 for protecting the suction cups 122 from abrasion against the vessel 500 when the engaging mechanism 120 engages with the vessel 500.
- the protective member could be of a variety of shapes and sizes, and is moveable between a protective position (as shown in Figure 4) in which the suction cup 122 is protected from abrasion by the vessel 500, and a retracted position in which it can engage with and secure against the vessel 500.
- the protective member would extend further than the engaging suction cups when in the protective position. It may be composed of an abrasive resistant material, such as hard rubber, or the like.
- the protective member would typically be moved to the protective position when the engaging mechanism is engaging with the vessel 500 to dock it, but would move to the retracted position when the engaging mechanism is securing to the side of the vessel 500 to moor it.
- the mooring robots may not provide or provide very little resistance to movement of the vessel in the athwartship direction (eg a direction perpendicular to the normal of the suction forces of the suction cups. Accordingly, the system only controls the mooring robots in a manner to take into account athwartship direction movement of the vessel. Slippage in a fore/aft direction of travel of the vessel, between the vessel and the mooring robots may be permitted.
- the protective members may be wheels that prevent the hull of the vessel from being scratched during any such slippage.
- the protective members may not be used.
- a coupling of the suction cups with the vessel is necessary to help arrest the movement in the fore/aft direction.
- the normal direction suction force will determine the shear direction coupling force capacity between the vessel and suction cups which can be used in the calculations as needed.
- the typical operation of the mooring system 100 is explained as follows: An operator will actuate the mooring system 100 to its activated condition. They are or are put in an unarmed condition until a vessel approaches.
- the mooring system 100 is sensitised to the approach of a vessel 500.
- the location sensing system will sense the location of the vessel 500, and generate a location signal.
- the location signal will be sent to the control system 160, which will process the location signal on a processor.
- the processor will cooperate with the movement calculating instructions.
- the processor will generate a pair of sets of index values. One set of index values may be used, in conjunction with the movement directing instructions, by the controller to control the movement of the mooring robots 110.
- the engaging mechanism 120 at the end of the arm linkages 132 of the mooring robots 110 will be extended to their maximum range outwardly towards the approaching vessel 500.
- the arm linkages 132 may start moving the engaging mechanism back inwardly towards the terminal 600, at a velocity slightly less than that of the approaching vessel 500, so that the vessel 500 engages with the engaging mechanism 120 while the extendable arm linkages 132 are still at a large part of their extension capacity. The result of this movement will be that the vessel 500 is engaged with the engaging mechanism 120 without a significant change in inertia of the vessel 500, so that it is not subject to a shock which may cause damage to the mooring robot HO and/or the vessel 500.
- the protective member will be in the protective position, preventing excessive abrasion of the vacuum cups 122 by the approaching vessel 500.
- the protective member will be moved to the retracted position, allowing the vacuum cups 122 to make contact with the side of the vessel 500, allowing it to secure to the side of the vessel 500 by suction, thereby mooring the vessel 500 to the terminal 600.
- the mooring robots 110 can then be moved, together with the secured vessel, to a preferred position or configuration.
- the controller controls the extendable arm linkages to slow the velocity of the vessel 500 towards the terminal 600 to a stop within the remaining arm linkage 132 extension distance.
- the vessel will be brought to a stop smoothly and with appropriate deceleration, so as to prevent shocks to the vessel 500 or mooring robot 110.
- the kinetic energy of the vessel may be absorbed via the hydraulic system such as hydraulic cylinders 134 of the mooring robots.
- Fore/aft movement of the vessel can also be arrested or reduced by the mooring robots in a mode of operation of the system where no protective members are utilised.
- Initial movement in such a direction by the suction cups during initial contact may also be controlled to ensure connection occurs without sliding or significant sliding between the vessel and the suction cups.
- the fore/aft movement and/or athwartship movement may be arrested. Any up and down movement of vessel at where the suctions cups are engaged may not be restricted by the mooring robots, eg the suction cups may be able to freely move up and down.
- the suction cups may be mounted on horizontal rails on the mooring robots to enable their movement along the dock to correspond with fore and aft movement of the vessel. Such movement of the suction cups may be controlled by hydraulic rams or any other appropriate actuation means.
- the mooring robots may also be presented in precondition to an appropriate state. This may include the setting of appropriate pressures of the hydraulics and/or pneumatics of the mooring robot.
- the system may control a plurality of mooring robots in concert. For example, if the vessel is approaching in a manner where the side of the vessel is not parallel the linear array of mooring robots on the wharf, the array of robots may position their suction cups to correspond with the side of the vessel such that all suction cups engage at substantially the same time. This may occur to avoid any one or robot engaging before the others and potentially overloading that one robot. This will also help in ensuring the maximum total force can be applied simultaneously to the vessel by all the mooring robots during the docking of the vessel. Alternatively, it may be that the system controls the mooring robots in a manner such that one or more mooring robots engage before others in the array.
- Mooring robots with the largest capacity to help arrest movement may engage earlier than others. For example, if a vessel is approaching at an angle, mooring robots at the most proximate part of the vessel may first engage. This initial contact may encourage at least a partial reduction in the speed of the vessel and may also help move the vessel to a condition more parallel to the array and wharf, eg, the vessel may be rotated as a result of the said contact.
- the emergency buffer elements 170 may be automatically moved to the deployed position to assist in cushioning the shock to the mooring robot 110, vessel 500 and/or terminal 600.
- the mooring system may also be operated in a manner to recruit more mooring robots if the system decides or indicated that such may be necessary. For example if a vessel if a larger mass is approaching compared to a vessel previously at the mooring terminal, it may be necessary to have more mooring robots present to (a) help arrest movement of the vessel and/or (b) held moor the vessel after initial docking. With mooring robots mounted on rails for example, such recruitment can be simply facilitated. Likewise a discharge of robots from the array of robots to receive the vessel may be facilitated. Also, it is em ⁇ saged that a discharge of robots from the array may occur, once the docking process is complete.
Landscapes
- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BRPI0818858 BRPI0818858A2 (en) | 2007-10-24 | 2008-10-24 | AUTOMATED DRAWING AND ANCHORING SYSTEM |
JP2010530949A JP5291113B2 (en) | 2007-10-24 | 2008-10-24 | Automatic docking and mooring system |
CA2703658A CA2703658C (en) | 2007-10-24 | 2008-10-24 | Automated docking and mooring system |
AU2008317580A AU2008317580B2 (en) | 2007-10-24 | 2008-10-24 | Automated docking and mooring system |
EP08842362.9A EP2203346A4 (en) | 2007-10-24 | 2008-10-24 | Automated docking and mooring system |
CN2008801224394A CN101918269A (en) | 2007-10-24 | 2008-10-24 | Automated docking and mooring system |
US12/732,131 US8408153B2 (en) | 2007-09-26 | 2010-03-25 | Automated mooring method and mooring system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NZ56278207 | 2007-10-24 | ||
NZ562782 | 2007-10-24 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NZ2008/000251 Continuation-In-Part WO2009041834A1 (en) | 2007-09-26 | 2008-09-25 | Mooring system and control |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2009054739A1 true WO2009054739A1 (en) | 2009-04-30 |
WO2009054739A9 WO2009054739A9 (en) | 2009-06-25 |
Family
ID=40579737
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NZ2008/000281 WO2009054739A1 (en) | 2007-09-26 | 2008-10-24 | Automated docking and mooring system |
Country Status (9)
Country | Link |
---|---|
EP (1) | EP2203346A4 (en) |
JP (1) | JP5291113B2 (en) |
KR (1) | KR20100072361A (en) |
CN (1) | CN101918269A (en) |
AU (1) | AU2008317580B2 (en) |
BR (1) | BRPI0818858A2 (en) |
CA (1) | CA2703658C (en) |
MY (1) | MY157340A (en) |
WO (1) | WO2009054739A1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009072906A2 (en) * | 2007-12-04 | 2009-06-11 | Cavotec Msl Holdings Limited | Mooring robot array control system and method therefore |
KR101089263B1 (en) | 2009-02-26 | 2011-12-02 | 한국과학기술원 | Berthing system, berthing equipment, and berthing method |
KR101118523B1 (en) * | 2009-05-19 | 2012-03-06 | 동아대학교 산학협력단 | Obtaining device and method of ship information |
US8215256B2 (en) | 2002-07-30 | 2012-07-10 | Cavotec Moormaster Limited | Mooring system with active control |
KR101220627B1 (en) * | 2010-07-21 | 2013-01-10 | 디알비동일 주식회사 | Panel of fender for ship having luminous body |
CN102944878A (en) * | 2012-11-13 | 2013-02-27 | 江苏科技大学 | Laser positioning detection system of automatic ship mooring system |
EP2450271A3 (en) * | 2010-11-04 | 2013-12-04 | Korea Advanced Institute of Science and Technology | Mooring system for a vessel |
WO2018154212A1 (en) | 2017-02-27 | 2018-08-30 | Saipem S.A. | Device for coupling two boats |
Families Citing this family (8)
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CN105350494B (en) * | 2015-12-08 | 2019-02-15 | 上海杰桢海洋工程有限公司 | A kind of intelligence absorption type large-tonnage ships docking system |
CN109305296A (en) * | 2018-08-21 | 2019-02-05 | 日昌升集团有限公司 | A kind of collapsible automatic traction device and method for ship berthing |
CN111452916B (en) * | 2020-04-29 | 2021-04-02 | 重庆交通大学 | Non-self-navigation passing traction device and method for navigation tunnel ship |
CN111959713A (en) * | 2020-07-22 | 2020-11-20 | 广州文冲船舶修造有限公司 | Ship docking positioning device and ship docking positioning method |
CN113561191A (en) * | 2021-04-21 | 2021-10-29 | 北京机科国创轻量化科学研究院有限公司 | Berthing manipulator queue control system and working method thereof |
KR102525474B1 (en) * | 2022-04-25 | 2023-04-26 | 한국기계연구원 | Mooring apparatus based on complex control, mooring system having the same, and method for mooring using the same |
CN115556873B (en) * | 2022-08-17 | 2024-05-14 | 启东集胜设计有限公司 | Ship mooring device and method |
TWI833497B (en) * | 2022-12-14 | 2024-02-21 | 財團法人船舶暨海洋產業研發中心 | Mooring device and operating method thereof |
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- 2008-10-24 AU AU2008317580A patent/AU2008317580B2/en not_active Ceased
- 2008-10-24 BR BRPI0818858 patent/BRPI0818858A2/en not_active Application Discontinuation
- 2008-10-24 CA CA2703658A patent/CA2703658C/en not_active Expired - Fee Related
- 2008-10-24 CN CN2008801224394A patent/CN101918269A/en active Pending
- 2008-10-24 EP EP08842362.9A patent/EP2203346A4/en not_active Withdrawn
- 2008-10-24 KR KR1020107011264A patent/KR20100072361A/en not_active Application Discontinuation
- 2008-10-24 WO PCT/NZ2008/000281 patent/WO2009054739A1/en active Application Filing
- 2008-10-24 JP JP2010530949A patent/JP5291113B2/en not_active Expired - Fee Related
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KR101220627B1 (en) * | 2010-07-21 | 2013-01-10 | 디알비동일 주식회사 | Panel of fender for ship having luminous body |
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Also Published As
Publication number | Publication date |
---|---|
EP2203346A1 (en) | 2010-07-07 |
JP2011502067A (en) | 2011-01-20 |
EP2203346A4 (en) | 2015-04-01 |
WO2009054739A9 (en) | 2009-06-25 |
CN101918269A (en) | 2010-12-15 |
JP5291113B2 (en) | 2013-09-18 |
KR20100072361A (en) | 2010-06-30 |
MY157340A (en) | 2016-05-31 |
CA2703658C (en) | 2012-11-27 |
AU2008317580B2 (en) | 2014-06-12 |
BRPI0818858A2 (en) | 2015-04-14 |
AU2008317580A1 (en) | 2009-04-30 |
CA2703658A1 (en) | 2009-04-30 |
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