WO2009072906A2

WO2009072906A2 - Mooring robot array control system and method therefore

Info

Publication number: WO2009072906A2
Application number: PCT/NZ2008/000326
Authority: WO
Inventors: Peter James Montgomery
Original assignee: Cavotec Msl Holdings Limited
Priority date: 2007-12-04
Filing date: 2008-12-04
Publication date: 2009-06-11
Also published as: WO2009072906A3; NZ564009A

Abstract

According to the invention, there is provided a mooring robot array control system (100), suitable for controlling at least one of a plurality of mooring robots (150) to moor a vessel (200) to a terminal (300) such as wharf or pier, or even another vessel. The mooring robot array control system (100) is used to establish which of a plurality of mooring robots (150), spaced along a terminal (300), are usable for purposes of mooring an approaching vessel (200) to be moored, and which mooring robots (150) are not available by reason that they are currently occupied by mooring another vessel, or are located alongside part of the vessel (200) that is difficult to engage with. The mooring robot array control system (100) is then used to control these mooring robots (150) accordingly. The array control system (100) comprises a proximity sensor associated with each of the plurality of mooring robots (150), engagement sensor associated with each of the mooring robots (150), a set of instructions in the form of software (190). and a controller (160). Further, known information about a vessel can be combined with information known about other vessels moored at the terminal (300), to recommend relocation of mooring robots which are already being used to moor vessel to the terminal, to optimise usage of the mooring robots (150) and free up mooring robots (150) which are excess to regquirements to be able to moor the apprach vessel (200) to be moored.

Description

"MOORING ROBOT ARRAY CONTROL SYSTEM AND METHOD

THEREFOR"

TECHNICAL FIELD The present invention relates to a mooring robot array control system. More particularly, but not exclusively, it relates to a control system for controlling an array of mooring robots in order to dock and moor a vessel to a mooring terminal.

BACKGROUND OF THE INVENTION Mooring devices such as mooring robots are well known in the art. An example of one such device is disclosed in PCT publication WO2001 /62585. Such mooring devices are used to engage with and hold a vessel to a terminal such as a wharf at a port. Such mooring devices may typically comprise vacuum cups for holding vessels. The vacuum cups are moved on arms or arm linkages which are capable of movement in three dimensions. Each individual mooring robot may be movable, either by a drive system, or along a rail or track, thereby moving an engaged vessel with it.

Further, such mooring devices or mooring robots can include distance measuring sensors which are able to measure the distance from a mooring robot to an approaching vessel in order to control the mooring robot in accordance with the measured distance. PCT publication WO 2006/001720 discloses a mooring robot that includes a laser for determining the proximity of a vessel or target portion of a vessel.

PCT publication WO2004/011326 discloses a mooring system with an active control, wherein mooring devices such as those described above are controllable by means of a central control system to ensure that the forces acting on a vessel moored by the mooring devices does not exceed the holding capacity of any individual mooring device.

The use of the systems and mooring robots described above typically includes docking the ship alongside a docking terminal along which a plurality of mooting robots are stationed. The mooring robots are extended outwardly to engage with the vessel being docked. Once the mooring robot has extended outward to engage with the side of the vessel, holding mechanisms such as vacuum cups are actuated, which hold fast against the side of the vessel, thereby ensuring that the vessel is securely moored to the terminal. The mooring robots may also be used to guide the secured vessel to convenient positions for loading and/ or offloading. Existing systems may have a disadvantage in that docking vessels may not always be in a correct position for engaging and securing the vacuum cups to the side of the vessel. As an example, most of the array of mooring robots may be in a suitable position to engage with the vessel, but one or two may be located alongside the bow or stern of the vessel, and the vessel may not be close enough to engage. Whilst a manual control of each robot in an array may overcome this disadvantage, it may not always be obvious to an operator controlling the mooring robots whether a vessel is located in a suitable position for engagement by a mooring robot. It further may not always be convenient or possible for an operator to inspect the particular location of the vessel to be moored. In this specification, where reference has been made to external sources of information, including patent specifications and other documents, this is generally for the purpose of providing a context for discussing the features of the present invention. Unless stated otherwise, reference to such sources of information is not to be construed, in any jurisdiction, as an admission that such sources of information are prior art or form part of the common general knowledge in the art.

OBJECT OF THE INVENTION

It is an object of the present invention to provide a mooring robot array control system and method therefore which overcomes or at least ameliorates some of the abovementioned disadvantages, or which at least provide the public with a useful choice.

SUMMARY OF THE INVENTION

In a first aspect the present invention broadly consists in a mooring robot array control system, suitable for controlling at least one of a plurality of mooring robots for mooring a vessel to a terminal, said array control system comprising:

• a proximity sensor associated with a mooring robot, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel to the mooring robot;

• an engagement sensor configured for sensing whether the same mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result;

• instructions for directing a processor to process the proximity signal and the engagement signal to generate a processed signal which is indicative of whether the mooring robot is suitable for use in mooring a vessel. Preferably, the instructions are configured for directing a controller to control the operation of the mooring robot in accordance with the generated processed signal.

Preferably, the array control system includes a controller configured to control the operation of the mooring robot in accordance with the instructions. Preferably, the instructions are configured to direct the controller not to control a mooring robot to engage with a vessel if the engagement signal indicates that the mooring robot is already engaged with a vessel.

Preferably, the instructions are configured to direct the controller not to control a mooring robot to engage with a vessel if the proximity signal indicates that the vessel is not within a predetermined range of operation of the mooring robot.

Preferably, the instructions are configured for indicating a set of proposed mooring robots to a user as being suitable for use in the mooring of the vessel.

Preferably, the instructions are configured to present the proposed set of mooring robots for one or more of authorisation and modification by a user. Preferably, the instructions are configured to recognise the availability of the mooring robot for being controlled if a proximity signal is received, and no engagement signal is received, by allocating it the status of being armed.

Preferably, the instructions are configured to recognise the availability of the mooring robot for being controlled if a proximity signal is received, and a suitable engagement signal is received, by allocating it the status of being armed.

Preferably, the instructions are configured to recognise the availability of a mooring robot having an armed status for being controlled by the controller to moor a vessel.

Preferably, a mooring robot in an armed mode will be available for use in mooring a vessel. Preferably, the instructions are configured to direct the processor to receive the proximity signals and engagement signals of a plurality of mooring robots at regular intervals. Preferably, the array control system includes a processor. Preferably, the array control system includes storage means for storing the instructions. Preferably, the storage means is digital storage means.

Preferably, the storage means is any one selected from a digital disc, magnetic tape, a computer hard disc, flash memory or the like.

Preferably, array control system includes receiving means for o receiving the engagement signal from the engagement sensor, and o receiving the proximity signal from the proximity sensor; or o receiving both the engagement signal and the proximity signal. Preferably, the array control system includes transmitting means for transmitting instructions to the mooring robots in accordance with the processed signal. Preferably the receiving means and the transmitting means is a communications network.

Preferably, the communication network operates through a wireless connection. Alternatively, the communication network operates through cables. Preferably, the array control system includes a mooring robot. Preferably, the array control system includes a plurality of mooring robots.

Preferably, the mooring robots are regularly spaced along a terminal. Preferably, the mooring robots are moveable relative to the terminal. Preferably, the mooring robots are moveable under control from the controller. Preferably, the instructions are configured to direct the processor to determine a possible location of at least one available mooring robot for mooring of die vessel.

Preferably, the determined possible location is at least partially optimised for convenient mooring of the vessel.

Preferably, the instructions are configured to present a signal indicative of determined possible locations of the mooring root as recommended to a user, in order for the user to input a signal to authorise movement of the mooring robot to a recommended location, or to input an alternative location.

Preferably, the instructions are configured to direct the processor to determine a number of possible locations for the mooring robot for convenient mooring of the vessel.

Preferably, the instructions are configured to present the results of the determined possible locations to a user as recommended locations, in order for the user to input a signal authorising one of the recommended locations or to input an alternative location.

Preferably the instructions are configured to receive an input from a user selecting at least one of the recommended locations, or inputting an alternative location.

Preferably, the instructions are configured to receive information about a vessel, to be used in determination of the possible locations for relocation of a mooring robot.

Preferably, the instructions are configured to receive information about a vessel through an Automatic Identification System (AIS). Preferably, the instructions are configured to direct the processor to determine possible locations for the mooring robot(s) using received identification about the vessel to be moored:

Preferably, the instructions are configured to direct the processor to determine possible locations for the mooring robot(s) using received identification about vessels which are already moored, in order to- optimise usage of mooring robots, at the terminal.

Preferably, the instructions are configured to direct a controller to control the operation of the mooring robot in accordance with the user input.

Preferably, the proximity sensor is capable of sensing the vessel's profile at least . proximate the proximity sensor, and the proximity signal is indicative of the vessels profile at least proximate the proximity sensor.

Preferably, the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable size and shape for engagement by the mooring robot. Preferably, the proximity signal is indicative of one or more selected from whether the vessel is suitably planar proximate the proximity sensor for engaging the mooring robot to the vessel or not, and whether the vessel has a suitable size and shape proximate the proximity sensor for engagement by the mooring robot. In a second aspect the present invention broadly consists in a mooting robot array control system, suitable for controlling at least one of a plurality of mooring robots for mooring a vessel to a terminal, said array control system comprising

• receiving means for o receiving an engagement signal from an engagement sensor which is configured for sensing whether a mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result; and o receiving a proximity signal from a proximity sensor which is associated with the same mooring robot, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel to the mooring robot; and

• instructions for o directing a processor to process the proximity signal and the engagement signal to generate a processed signal indicative of whether the particular mooring robot of the plurality of mooring robots is suitable for use to moor a vessel.

Preferably, the array control system includes transmitting means for transmitting a signal to a mooring robot in accordance with the processed signal. Preferably the receiving means and/ or the transmitting means is a communication network.

Preferably, the array control system includes a proximity sensor associated with a mooring robot, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel to the mooring robot. Preferably, the array control system includes an engagement sensor configured for sensing whether the same mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result;

Preferably, the instructions are configured for directing a controller to control the operation of the mooring robot in accordance with the generated processed signal. Preferably, the array control system includes a processor.

Preferably, the array control system includes a controller configured to control the operation of the mooring robot in accordance with the instructions.

Preferably, the instructions are configured to avoid directing the controller to control a mooring robot to engage with a vessel if the engagement signal indicates that the mooring robot is already engaged with a vessel.

Preferably, the instructions are configured to avoid directing the controller to control a mooring robot to engage with a vessel if the proximity signal indicates that the vessel is not within a predetermined range of operation of the mooring robot.

Preferably the instructions are configured for determining a set of proposed mooring robots that are suitable for use to moor a vessel from the processed signal.

Preferably, the instructions are configured for presenting a signal indicative of a set of proposed mooring robots as being suitable for use in the mooring of the vessel to a user.

Preferably, the instructions are configured to present the signal indicative of a proposed set of mooring robots for one or more of authorisation and modification by a user. Preferably the instructions are configured for receiving an input from a user authorising control of at least one proposed mooring robot by the controller.

Preferably the instructions are configured for receiving an authorisation for the control of at least one alternative mooring robot. Preferably the instructions are configured to recognise the availability of the mooring robot for being controlled by the controller if a proximity signal is received, and no engagement signal is received, by allocating it the status if being armed.

Preferably, the instructions are configured to direct the control system to control the mooring robot to enter an armed mode if a proximity signal is received, and no . engagement signal is received.

Preferably, a mooring robot in an armed mode will be available for use in mooring a vessel.

Preferably, the instructions are configured to direct the processor to receive the proximity signals and engagement signals of a plurality of mooring robots at regular intervals.

Preferably, the array control system includes storage means for storing the instructions. Preferably, the storage means is digital storage means.

Preferably, the receiving means and the transmitting means is a communication network. Preferably, the communication network operates through one or more selected from a wireless connection and a cable network.

Preferably, the array control system includes a mooring robot.

Preferably, the array control system includes a plurality of mopring robots.

Preferably, the mooring robots are regularly spaced along a terminal. Preferably, the mooring robots are moveable relative to the terminal.

Preferably, the mooring robots are moveable under control of the controller.

Preferably, the instructions are configured to direct the processor to determine a possible location of the mooring robot for mooring of the vessel.

Preferably, the determined location is an optimum location for convenient mooring of the vessel.

Preferably, the instructions are configured to present a signal indicative of at least one determined possible location to a user as a recommended location, in order for the user to input a signal to authorise movement of the mooring robot to the recommended location. Preferably, the instructions are configured to direct the processor to determine a number of possible locations for the mooring robot for convenient mooring of the vessel.

Preferably, the instructions are configured to present the results of the determination as possible locations to a user, in order for the user to input a signal selecting one of the possible locations.

Preferably, the instructions are configured for receiving an input from a user authorising movement of a mooring robot to at least one recommended location. Preferably, the instructions are configured for receiving an input from a user declining authorisation for movement of a mooring robot to at least one recommended location, and inputting an alternative location.

Preferably, the instructions are configured for receiving an input from a user inputting an alternative location.

Preferably, the instructions are configured to receive information about a vessel, to be used in determination of the possible locations for relocation of a mooring robot. Preferably, the instructions are configured to direct a controller to control the operation of the mooring robot in accordance with the user input.

Preferably, the instructions are configured to direct the control system to control the mooring robot to enter an armed mode if a proximity signal is received, and no engagement signal is received. Preferably, a mooring robot in an armed mode will be available for use in mooring a vessel.

Preferably, the proximity sensor is capable of sensing the vessel's profile at least proximate the proximity sensor, and the proximity signal is indicative of the vessels profile at least proximate the proximity sensor.

Preferably, the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable size and shape for engagement by the ' mooring robot. Preferably, die proximity signal is indicative of one or more selected from whether the vessel is suitably planar proximate the proximity sensor for engaging the mooring robot to the vessel or not, and whether the vessel has a suitable size and shape proximate the proximity sensor for engagement by the mooring robot. In a third aspect the present invention broadly consists in software, for use in a system comprising a plurality of mooring robots for mooring a vessel to a terminal, said software including • instructions for directing a processor to o receive an engagement signal from an engagement sensor which is configured for sensing whether a mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result; o receive a proximity signal from a proximity sensor, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel to the same mooring robot; and o process the proximity signal and the engagement signal to generate a processed signal indicative of whether the mooring robot is suitable for use in mooring a vessel.

Preferably, the instructions are configured for directing a controller to control the operation of the mooring robot in accordance with the generated processed signal.

Preferably, the instructions are configured to direct the controller not to operate a mooring robot to engage with a vessel if the engagement signal indicates that the mooring robot is already engaged with a vessel.

Preferably, the instructions are configured to direct the controller not to operate a mooring robot to engage with a vessel if the proximity signal indicates that the vessel is not within a predetermined range of operation of the mooring robot.

Preferably, the instructions are configured for determining whether a mooring robot is available for use in mooring of a vessel.

Preferably, the instructions are configured to present at least one mooring robot as a proposed mooring robot for one or more of authorisation and modification by the ^• operator.

Preferably, the instructions are configured to receive user input authorising use of at least one of the presented mooring robots, or authorising at least one alternative mooring robot.

Preferably, the mooring robots are moveable relative to the terminal under control of the controller. Preferably, the instructions are configured to direct the processor to determine a possible location for re-location of a mooring robot to moor a vessel if one or more of the engagement signal and the proximity signal indicate that the mooring robot is not available for mooring the vessel. Preferably, the determined possible location is an optimum location for convenient mooring of the vessel.

Preferably, the instructions are configured to present a signal indicative of the determined possible location to a user as a recommended location, in order for the user to input a signal to authorise movement of the mooring robot to the recommended location. Preferably, the instructions are configured to direct the processor to determine a plurality of possible locations for the mooring robot for convenient mooring of the vessel.

Preferably, the instructions are configured to present the results of the determined possible locations to a user as a recommended location, in order for the user to input a signal selecting one of the recommended locations. Preferably, the instructions are configured to receive user input authorising at least one recommended location for relocation by a mooring robot, or allocating an alternative location for the mooring robot or both.

Preferably, the instructions are configured to direct a controller to control the operation of the mooring robot in accordance with the user input. Preferably, the instructions are configured to receive information about a vessel, to be used in determination of the possible locations for relocation of a mooring robot.

Preferably, the proximity signal may be indicative of the distance from the mooring robot to the vessel to be moored.

Preferably, the proximity signal may be generated only when the vessel to be moored is within a predetermined range of the mooring robot.

Preferably, the proximity signal may only be indicative of the presence of a vessel to be moored. Preferably, the instructions are configured to direct the control system to allocate an armed status a mooring robot if a proximity signal is received, and no engagement signal is received.

Preferably, only a mooring robot having an armed status, will be available for use in mooring a vessel. Preferably, the instructions are configured to direct the processor to receive the proximity signals and engagement signals of a plurality of mooring robots at regular intervals.

Preferably, the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable size and shape for engagement by the mooring robot.

Preferably, the proximity signal is indicative of one or more selected from whether the vessel is suitably planar proximate the proximity sensor for engaging the mooring robot to the vessel or not, and whether the vessel has a suitable size and shape proximate the proximity sensor for engagement by the mooring robot.

In a fourth aspect the present invention broadly consists in method of controlling a mooring robot, suitable for controlling at least one of a plurality of mooring robots for mooring a vessel to a terminal, said method comprising the steps of

• receiving a proximity signal from a proximity sensor associated with a mooring robot, said proximity signal being indicative of the proximity of a vessel to the mooring robot; • receiving a engagement signal from an engagement sensor associated with the same mooring robot, said engagement signal being indicative of whether the mooring robot is currently engaged with a vessel; and • processing the proximity signal and the engagement signal to generate a processed signal which is indicative of whether the mooring robot is available for use in mooring a vessel.

Preferably, the method further includes the step of directing the control of the mooring robot in accordance with the generated processed signal.

Preferably, the method further includes the step of receiving the proximity signal and the engagement signal from respective proximity sensors and engagement sensors associated with each of a plurality mooring robots.

Preferably, the method further includes the step of receiving the proximity signal and the engagement signal from respective proximity sensors and engagement sensors associated with a plurality of mooring robots at regular intervals. Preferably, the method further includes the step of indicating to an operator a set of proposed mooring robots to a user as being available for use in the mooring of the vessel.

Preferably, the method further includes the step of present the set of proposed mooring robots for one or more of authorisation and modification by a user. Preferably, the method further includes the step of receiving input from a user authorising use of a proposed mooring robot.

Preferably, the method further includes the step of receiving input from a user prescribing an alternative set of proposed mooring robots for use in mooring a vessel.

Preferably, the method further includes the step of causing a mooring robot to be designated an armed status if a proximity signal is received, and no engagement signal is received, or an engagement signal is received indicating that the mooring robot is not engaged with a vessel.

Preferably, the mooring robots are moveable under control of the controller.

Preferably, the method further includes the step of determining a possible location of a mooring robot which is available for use in mooring a vessel to a user for one or both of authorisation and modification by a user.

Preferably, the method further includes the step of receiving input from a user- authorising use of the mooring robot at a recommended location.

Preferably, the method further includes the step of receiving input from a user prescribing an alternative location to the recommended location for a mooring robot.

Preferably, the method further includes the step of determining an optimum location of a mooring robot in an armed mode for mooring of the vessel.

Preferably, the method further includes the step of authorising movement of the mooring robot to the recommended location. Preferably, the method further includes the step of determining a plurality of possible locations for a mooring robot for mooring of the vessel.

Preferably, the method further includes the step of selecting one of the possible locations.

Preferably, the method further includes the step of controlling the operation of a mooring robot in accordance with the authorisation from the user.

Preferably, the method further includes the step of receiving information about a vessel.

Preferably, the method further includes the step of receiving information about a vessel to be moored. Preferably, the method further includes the step of receiving information about a vessel that is already moored at the terminal.

Preferably, the information received about a vessel is received using the vessel's Automatic Identification system (AIS) Preferably, die method further includes the step of using information received about a vessel or vessels in the determination of the recommended locations for a mooring robot.

Preferably, the method further includes the step of using information received about a vessel or vessels in the determination of the recommended locations for relocation of a mooring robot in order to optimise use of the mooring robots at the terminal.

A mooting robot for use in a mooring robot array control system, said mooring robot including an associated proximity sensor for sensing the proximity of an approaching vessel and a being capable of generating a proximity signal indicative of the proximity of a vessel approaching the mooring robot; an associated engagement sensor configured for sensing whether the mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result; a transmitter for transmitting at least one or both of the proximity signal and the engagement signal for processing by a processor.

Preferably, the proximity sensor is capable of sensing the vessel's profile at least proximate the proximity sensor, and the proximity signal is indicative of the vessels profile at least proximate the proximity sensor. Preferably, the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable si2e and shape for engagement by the mooring robot.

Other aspects of the invention may become apparent from the following description which is given by way of example only and with reference to the accompanying drawings.

As used herein the term "and/or" means "and" or "or", or both. As used herein "(s)" following a noun means the plural and/or singular forms of the noun. The term "comprising" as used in this specification [and claims] means "consisting at least in part of. When interpreting statements in this specification [and claims] which include that term, the features, prefaced by that term in each statement, all need to be present but other features can also be present. Related terms such as "comprise" and "comprised" are to be interpreted in the same manner. The entire disclosures of all applications, patents and publications, cited above and below, if any, are hereby incorporated by reference.

To those skilled in the art to which the invention relates, many changes in construction and widely differing embodiments and applications of the invention will suggest themselves without departing from the scope of the invention as defined in the appended claims. The disclosures and the descriptions herein are purely illustrative and are not intended to be in any sense limiting.

BRIEF DESCRIPTION OF THE DRAWINGS

. Figure 1: shows a schematic perspective view of the extendable arm linkage of a prior art mooring robot, showing the range of movement possible in 3- dimensions;

Figure 2: shows a schematic plan view of a vessel about to be moored to a terminal, showing a set of mooring robots spaced along the terminal, and further showing the range of movement of the arm linkages of the mooring robots; and Figure 3: shows a perspective view of a prior art mooring robot.

The invention will now be described by way of example only and with reference to the drawings in which:

5 Figure 4: shows a schematic plan view of a vessel about to be moored to a terminal, and a mooring robot array control system.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT(S)

With reference to the above drawings, a mooring robot array control system

10 according to a first aspect of the invention is generally indicated by the numeral 100.

According to the invention, there is provided a mooring robot array control system 100, suitable for controlling at least one of a plurality of mooring robots 150 to moor a vessel 200 to a terminal 300 such as wharf or pier, or even another vessel. The mooring robot array control system 100 is used to establish which of a plurality of mooring robots 150, spaced

,15 along a terminal 300, are usable for purposes of mooring an approaching vessel 200 to be moored, and which mooring robots 150 are not available by reason that they are currently occupied by mooring another vessel, or are located alongside part ofa die vessel 200 that is difficult or impossible to suitably engage with. The mooring robot array control system 100 is then used to control these mooring robots 150 accordingly.

20 The array control system 100 comprises a proximity sensor (not shown) associated with each of the plurality of mooring robots 150, an engagement sensor associated with each of the mooring robots 150, a set of instructions in the form of software 190, and a controller 160. Typically, the mooring robot(s) 150 will each include an extendible arm linkage 152 and an engagement means, such as at least one vacuum cup 154, at a distal end of the extendible

25 arm linkage 152 (as shown in figure 1). The arm linkage 152 is used to extend the vacuum cup 154 towards a vessel 200 to be moored until it engages with the vessel 200, after which the vacuum cup 154 sucks onto the side of the vessel 200 to secure the vessel 200 to the terminal 300, thereby mooring it. The vacuum cup 154 is moveable by the arm linkage 152 in a range of extension (illustrated as arrow A in figure 1 and 2) in three dimensions, shown

30 in figures 1 and 3 as X, Y and Z. hydraulic rams may be used for such purposes.

Each proximity sensor is capable of generating a proximity signal indicative of the proximity of an approaching vessel to the mooring robot 150. It is envisaged that in a preferred embodiment, the proximity sensor is a distance sensor such as a laser or ultrasound distance sensor, which is capable of generating a vectored signal indicating both distance and the direction in which the distance is being measured. The sensor may be mounted on the mooring robot 150 (e.g. at the vacuum cup) or on the mooring facility or on the base of the mooring robot-150

In a simplified embodiment, the proximity sensor need not necessarily detect the distance to the vessel 200, but could merely detect the presence of the vessel 200. However, it is envisaged that in another more complex embodiment, the proximity sensor could not only detect distance to the vessel 200, but also detect the profile of the vessel 200 proximate the proximity sensor i.e. whether the vessel's profile is suitably planar or not, or has a suitable size and shape (this being typically rectangular), or otherwise suitable for engagement by the vacuum cups. Similarly, the proximity signal is envisaged to be indicative of the profile of the vessel. In this way, the profile of the vessel could be used to determine whether there are suitable surfaces for the mooring robot 150 to engage with and secure to.

The proximity sensor will generate a proximity signal indicative of distance if a vessel 200 is within range of the proximity sensor 110. However, the lack of a signal from a proximity sensor could also be construed as a signal indicating that no vessel 200 is present, that no vessel 200 is present proximate a mooring robot 150 having a surface suitable for engagement with that mooring robotl 50 , or at least that no vessel 200 is present in a usable position which is within the envelope of movement A of the mooring robot 150.

The proximity sensor may only generate a proximity signal if a vessel 200 is within a predetermined range of movement from the mooring robot .150. If for example, a vessel is disposed alongside the terminal where mooring robot 150 is located, but the mooring robot 150 happens to be in line with the stern or bow of the vessel 200, then the sides of the vessel 200 may not be close enough to the mooring robot 150 for the mooring robot 150 to be able to engage with. In an alternative embodiment, the proximity sensor could just send a signal indicating the distance to the vessel 200, regardless of its position. The proximity sensor is disposed at a known location with reference to the associated mooring robot 150, so that the distance from the vacuum cup 154 to a vessel 200 may be calculated by reference to the distance from the vessel 200 to the proximity sensor 110. In a most preferred embodiment, the proximity sensor is disposed on the vacuum cup 154 at the end of the extendible arm linkage 152.

In one embodiment, an engagement sensor (not shown) may be associated with each mooring robot 150. The engagement sensor is configured for sensing whether that mooring robot is in engagement with a vessel 200. The engagement sensor is capable of generating an engagement signal in accordance with the sensed result. It is envisaged that the engagement sensor could be a pressure transducer, mechanical switch or distance sensor configured to measure any aspect of a mooring robot 150 that would indicate that the mooring robot 150 is in engagement with a vessel 200 to hold the vessel 200 in a moored condition. In another embodiment, the engagement signal could come from an adjacent existing similar mooring control system (not shown) which communicates die engagement signal to the mooring array control system 100.

It is envisaged that the proximity signal generated by the proximity sensor and the engagement signal generated by the engagement sensor will be transmitted by a transmitter to a central processor (not shown), such as those found in a computer 140, by means of a network 170, where the signals will be processed. The network can be based on a cable network, or a wireless network, or both. However, it is also envisaged that a processor can be provided at each mooring robot, thereby negating the requirement for a transmitter to transmit the respective signals to a central processor. In this way, each mooring robot 150 may be individually controlled according to their associated proximity signals and engagement signals.

The software (not shown) is stored on a digital storage means 192 such as a hard disc, compact disc, DVD disc, digital disc, magnetic tape, a computer hard disc, flash memory or the like. The software is configured for directing the processor to process the proximity signal and the engagement signal to generate a processed signal. The processed signal is indicative of whether the mooring robot 150 is suitable for use in mooring a vessel

200.

The software is further configured for directing a controller 160, which can typically be in the form of a PLC type controller, but may be any other electronic, electrically operated, pneumatic or hydraulic- type controller (or any combination of these). The software directs the controller 160 to control the operation of the mooring robot 150 in accordance with the generated processed signal in the manner described below.

The processor will receive a proximity signal and an engagement signal-associated with the same mooring robot 150. From these two signals, the processor will generate a ^" processed signal. The processor may process the proximity signal and the engagement signal in a wide variety of ways to generate the processed signal, since the proximity signal and the engagement signal may be a wide variety of signals.

In one embodiment, the software will direct the processor to check if the mooring robot 150 is already secured to a moored vessel from the engagement signal. If this is true, then that mooring robot will be excluded from use in mooring an approaching vessel 200 to be moored. If this is false, then the software will direct the processor to calculate whether the approaching vessel 200 is within the range of extension of the arm linkage 152 and vacuum cup 154 so that it can be engaged with and secured to the terminal. In yet another embodiment, it is envisaged that the software will direct the processor to check, via the proximity sensor, whether the surface profile of the vessel is suitable for engagement by the mooring robot. If this is true, then the processor will generate the processed signal. In this way, the processed signal indicative of the usability of the mooring robot for mooring the approaching vessel 200 to be moored. Once the processed signal is generated, this signal can be used by the software in a number of ways. In one embodiment, if the processed signal indicates that the mooring robot is not available, then the software will direct a controller 160 not to interfere with the operation of the mooring robot 150. If the processed signal indicates that the mooring robot 150 is available, then the controller 160 can cause the mooring robot to enter into an armed mode, in which it is controllable by an existing mooring robot control system, or it can control the mooring robot 150 to engage with and secure the vessel 200 to be moored. As an alternative, the software can present the processed signal in a visual display (not shown) to an operator (for example on the vessel or at a control terminal on the wharf or terminal at which the vessel is to be moored), proposing use of one or more mooring robots 150 in mooring the vessel 200 to be moored. The operator may then authorise use of the proposed mooring robots 150, or may modify the selection of the proposed mooring robots 150 before authorising the selected set of mooring robots 150 for use in mooring the vessel 200.

Once authorised, the software can direct the controller 160 to control the authorised set of mooring robots 150 to moor the vessel 200, or to enter info an armed mode, in which the mooring robot 150 is controllable by means of an existing mooring robot control system.

The processor may be directed by the software to periodically or continuously check on the availability of the mooring robots 50 for mooring an approaching vessel at regular time intervals, or the software could direct the processor to check for the availability of the mooring robots 150 only when prompted to do so by an operator.

Additionally, it is envisaged that the mooring robots 150 can be of a type that are moveable along and relative to the terminal 300, either along a track (such as a rail way track) or on wheels or any other drive mechanism. Further, the mooring robots 150 can be of a type that are moveable under control by the controller 160. In such a case, the software will direct the processor to calculate and recommend possible locations for those mooring robots 200 that are not currently being used for mooring a vessel 200, but which are not ideally located to be able engage with and secure the vessel 200 (as an example of this, see the leftmost pair of mooring robots 150 on figure 2, where the vessel is out of the range of movement of the mooring robots). It is envisaged that the recommended possible locations presented to the operator will be the optimum locations for convenient mooring of the vessel, and d which locations are calculated according to a predetermined set of requirements. Such requirements may be for maximum usage of the terminal length, optimum placement of an unloading door of the vessel 200 for shorter unloading times, etc.

The set of mooring robots 150 to be moved and recommended possible locations can then be presented to the operator. In such a case, the operator may use this information to direct the relocation of the mooring robots 150, or authorise movement of the mooring robots 150 by the controller 160. Further, the mooring robot array control system 100 may be configured to receive information relating to the vessel 200 to be moored. This information can be received through the vessel's Automatic Identification System (AIS). The AIS system is a shipboard broadcast system that acts like a transponder, operating in the VHF maritime band, that is capable of handling well over 4,500 reports per minute and updates as often as every two seconds. The AIS system broadcasts information like ship name, course and speed, classification, call sign, registration number, Maritime Mobile Service Identity (MMSI), and other information. Typical information broadcasted currently by AIS includes:

^■ MMSI number - unique referenceable identification

^■ Navigation status (as defined by the COLREGS - not only are "at anchor" and "under way using engine" currently defined, but "not under command" is also currently defined)

^■ Rate of turn - right or left, 0 to 720 degrees per minute (input from rate-of-turn indicator)

^■ Speed over ground - 1/10 knot resolution from 0 to 102 knots ■ Position accuracy - differential GPS or other and an indication if

(Receiver Autonomous Integrity Monitoring) RAIM processing is being used

^■ Longitude - to 1 /10000 minute and Latitude - to 1 /10000 minute

^■ Course over ground - relative to true north to 1/1 Oth degree ^■ True Heading - 0 to 359 degrees derived from gyro input

^■ Time stamp - The universal time to nearest second that this information was generated

^■ MMSI number - same unique identification used above, links the data above to described vessel

^■ IMO number - unique referenceable identification (related to ship's construction)

^■ Radio call sign - international call sign assigned to vessel, often used on voice radio ■ Name - Name of ship, 20 characters are provided

^■ Type of ship/cargo - there is a table of possibilities that are available

^■ Dimensions of ship - to nearest meter

^■ Location on ship where reference point for position reports is located

^■ Type of position fixing device - various options from differential GPS to undefined

^■ Draught of ship - 1/10 meter to 25.5 meters [note "air-draught" is not provided]

^■ Destination - 20 characters are provided

^■ Estimated time of Arrival at destination - month, day, hour, and minute in UTC

This information may already have been received through an existing mooring robot control system and be available for use, or the mooring robot array control system 100 may be configured to specifically receive it from the vessel 200.

Tliis information can be used in the calculation of recommended locations for mooring robots 150 that are required to be moved before they can be used to moor the vessel 200. It is further envisaged that this information can be combined with information known about other vessels moored at the terminal 300, to recommend relocation of mooring robots which are already being used to moor vessel to the terminal, to optimise usage of the mooring robots 150 and free up mooring robots 150 which are excess to requirements to be able to moor the approach vessel 200 to be moored.

It is a consideration that the operator of the system may be located at a remote location on the terminal 300, or on the vessel 200 to be moored. For this reason, it is envisaged that the presentation of choices described above for selection and authorisation by the operator may be carried on board the vessel 200, after the information has been sent over the communications network 170.

The mooring robot array control system 100 as described above can be implemented as a "green fields" development at a terminal 300, where no other existing mooring robots or their control systems are in place. In such a case, the mooring robot control system is envisaged to include the mooring robots, communication network, computer (including processor and computer hard drive), controller, and software 190.

However, it is also envisaged that the system can be implemented where an existing mooring robot control system is akeady in place, including mooring robots, communications network, processor, storage means, proximity sensors and engagement sensors. In such a case, the installation of the mooring robot array control system 100 would extend to implementation and configuration of the software in order for the software to direct these components as required.

Where in the foregoing description reference has been made to elements or integers having known equivalents, then such equivalents are included as if they were individually set forth.

Although the invention has been described by way of example and with reference to particular embodiments, it is to be understood that modifications and/or improvements may be made without departing from the scope or spirit of the invention. In addition, where features or aspects of the invention are described in terms of

Markush groups, those skilled in the art will recognise that the invention is also thereby described in terms of any individual member or subgroup of members of the Markush group.

Claims

CLAIMS:

1. A mooting robot array control system, suitable for controlling at least one of a plurality of mooring robots for mooring a vessel to a terminal, said array control system comprising: i) a proximity sensor associated with a mooring robot, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel approaching the mooting robot; it) an engagement sensor configured for sensing whether the same mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result; iϋ) instructions for directing a processor to process the proximity signal and the engagement signal to generate a processed signal which is indicative of whether the mooring robot is suitable for use in mooring said approaching vessel.

2. A mooting robot array control system as claimed in claim 1 , wherein the instructions are configured for directing a controller to control the operation of the mooring robot in accordance with the generated processed signal.

3. A mooring robot array control system as claimed in claim 2, wherein the array control system includes a controller configured to control the operation of the mooring robot in accordance with the instructions.

4. A mooring robot array control system as claimed in claim 2 or 3, wherein instructions are configured to direct the controller not to control a mooring robot to engage with a vessel if the engagement signal indicates that the mooring robot is already engaged with a vessel.

5. . A mooring robot array control system as claimed in any of claims 2-4, wherein the instructions are configured to direct the controller not to control a mooring robot to engage with a vessel if the proximity signal indicates mat the vessel is not within a predetermined range of operation of the mooring robot.

6. A mooring robot array control system as claimed in any of claims 1-5, wherein the instructions are configured for indicating a set of proposed mooring robots to a user as being suitable for use in the mooring of the vessel.

7. A mooring robot array control system as claimed in claim 6, wherein the instructions are configured to present the proposed set of mooring robots for one or more of authorisation and modification by a user.

8. A mooring robot array control system as claimed in any of claims 1-7,, wherein the instructions are configured to recognise the availability of the mooring robot for being controlled if a proximity signal is received, and no engagement signal is received, by allocating it the status of being armed.

9. A mooring robot array control system as claimed in any of claims 2-8, wherein the instructions are configured to recognise the availability of a mooring robot having an armed status for being controlled by the controller to moor a vessel.

10. A mooring robot array control system as claimed in any of claims 1-9, wherein the instructions are configured to direct the processor to receive the proximity signals and engagement signals of a plurality of mooring robots at regular intervals.

11. A mooring robot array control system as claimed in any of claims 1-10, wherein the array control system includes a processor.

12. A mooring robot array control system as claimed in any of claims 1-11 wherein the array control system includes storage means for storing the instructions.

13. A mooring robot array control system as claimed in claim 12, wherein the storage means is digital storage means.

14. A mooring robot array control system as claimed in claim 12 or 13, wherein the storage means is any one selected from a digital disc, magnetic tape, a computer hard disc, flash memory or the like.

15. A mooring robot array control system as claimed in any of claims 1-14, wherein the array control system includes receiving means for i) receiving the engagement signal from the engagement sensor, or ii) receiving the proximity signal from the proximity sensor; or iϋ) receiving both the engagement signal and the proximity signal.

16. A mooring robot array control system as claimed in any of claims 1-15, wherein the array control system includes transmitting means for transmitting instructions to the mooring robots in accordance with the processed signal.

•

17. A mooring robot array control system as claimed in claim 15 or 16, wherein the

. receiving means and the transmitting means is a communications network.

18. A mooring robot array control system as claimed in claim 17, wherein the communication network operates through a wireless connection.

19. A mooring robot array control system as claimed in claim 17, wherein the communication network operates through cables.

20. A mooring robot array control system as claimed in any of claims 1-19, wherein the array control system includes a mooring robot.

21. A mooring robot array control system as claimed 'in claim 21, wherein the array control system includes a plurality of mooring robots.

22. A mooring robot array control system as claimed in any of claims 1-21, wherein the mooring robots are regularly spaced along a terminal.

23. A mooring robot array control system as claimed in any of claims 1-22, wherein . the mooring robots are moveable relative to the terminal.

24. A mooring robot array control system as claimed in any of claims 20-23, wherein the mooring robots are moveable under control from the controller.

25. A mooring robot array control system as claimed in any of claims 1-24, wherein the instructions are configured to direct the processor to determine a possible location of at least one available mooring robot for mooring of the vessel.

26. A mooring robot array control system as claimed in claim 25, wherein the determined possible location is at least partly optimized for convenient mooring of the vessel.

27. A mooring robot array control system as claimed in any of claims 1-26,, wherein the instructions are configured to present a signal indicative of determined possible locations of the mooring robot as recommended locations to a user, in order for the user to input a signal to authorise movement of the mooring robot to a recommended location, or to input an alternative location.

28. A mooring robot array control system as claimed in claim 25, wherein the instructions are configured to direct the processor to determine a number of possible locations for the mooring robot for convenient mooring of the vessel.

29. A mooring robot array control system as claimed in claim 28, wherein the instructions are configured to present the results of the determined possible locations to a user as recommended locations, in order for the user to input a signal authorising one of the recommended locations or to input an alternative location.

30. A mooring robot array control system as claimed in any of claims 27 or 28, wherein the instructions are configured to receive an input from a user selecting at least one of the recommended locations, or inputting an alternative location.

31. A mooring robot array control system as claimed in any of claims l-30,wherein the instructions are configured to receive information about a vessel, to be used in determination of the possible locations for relocation of a mooring robot.

32. A mooring robot array control system as claimed in claim 31, wherein the instructions are configured to receive information about a vessel through an Automatic Identification System (AIS).

33. ' A mooring robot array control system as claimed in any of claims 31 or 32,wherein the instructions are configured to direct the processor to determine possible locations for the mooring robot(s) using received identification about the vessel to be moored.

34. A mooring robot array control system as claimed in claim 33, wherein the instructions are configured to direct the processor to determine possible locations for the mooring robot(s) using received identification about vessels which are already moored, in order to optimise usage of mooring robots at the terminal.

35. A mooring robot array control system as claimed in claim 30, wherein the instructions are configured to direct a controller to control the operation of the mooring robot in accordance with the user input.

36. A mooring robot array control system, suitable for controlling at least one of a plurality of mooring robots for mooring a vessel to a terminal, said array control system comprising i) receiving means for i receiving an engagement signal from an engagement sensor that is configured for sensing whether a mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result; and ii receiving a proximity signal from a proximity sensor that is associated with the same mooring robot, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel to the mooring robot; and ii) instructions for directing a processor to process the proximity signal and the • engagement signal to generate a processed signal indicative of whether the particular mooring robot of the plurality of mooring robots is suitable for use to moor a vessel.

37. A mooring robot array control system as claimed in claim 36, wherein the array control system includes transmitting means for transmitting a signal to a mooring robot in accordance with the processed signal.

38. A mooring robot array control system as claimed in claim 37, wherein the receiving means and/ or the transmitting means is a communication network.

39. A mooring robot array control system as claimed in any of claims 36-38, wherein the array control system includes a proximity sensor associated with a mooring robot, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel to the mooring robot.

40. A mooring robot array control system as claimed in any of claims 36-39, wherein the array control system includes an engagement sensor configured for sensing whether the same mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result;

41. A mooring robot array control system as claimed in any of claims 36-40, wherein the instructions are configured for directing a controller to control the operation of the mooring robot in accordance with the generated processed signal.

42. A mooring robot array control system as claimed in any of claims 36-41, wherein the array control system includes a processor.

43. A mooring robot array control system as claimed in any of claims 36-42, wherein the array control system includes a controller configured to control the operation of the mooring robot in accordance with the instructions.

44. A mooring robot array control system as claimed in claim 43, wherein the instructions are configured to avoid directing the controller to control a mooring robot to engage with a vessel if the engagement signal indicates that the mooring robot is already engaged with a vessel.

45. A mooring robot array control system as claimed in claim 35, wherein the instructions are configured to avoid directing the controller to control a mooring robot to engage with a vessel if the proximity signal indicates that the vessel is not within a predetermined range of operation of the mooring robot.

46. A mooring robot array control system as claimed in any of claims 36-45, wherein the instructions are configured for determining a set of proposed mooring robots that are suitable for use to moor a vessel from the processed signal(s).

47. A mooring robot array control system as claimed in any of claims 36-42, wherein the instructions are configured for presenting a signal indicative of a set of proposed mooring robots as being suitable for use in the mooring of the vessel to a user.

48. A mooring robot array control system as claimed in claim 46, wherein the instructions are configured to present the signal indicative of a proposed set of mooring robots for one or more of authorisation and modification by a user.

49. A mooring robot array control system as claimed in claim 48, wherein the instructions are configured for receiving an input from a user authorising control of at least one proposed mooring robot.

50. A mooring robot array control system as claimed in claim 48 wherein the instructions are configured for receiving an authorisation for the control of at least one alternative mooring robot.

51. A mooring robot array control system as claimed in any of claims 36-50, wherein the instructions are configured to recognise the availability of the mooring robot for being controlled by the controller if a proximity signal is received, and no engagement signal is received, by allocating it the status of being armed.

52. A mooring robot array control system as claimed in claim 51, wherein the instructions are configured to recognise the availability of a mooring robot having an armed status for being controlled by the controller to moor a vessel.

53. A mooring robot array control system as claimed in any of claims 42-52, wherein the instructions are configured to direct the processor to receive the proximity signals and engagement signals of a plurality of mooring robots at regular intervals.

54. A mooring robot array control system as claimed in any of claims 36-53, wherein the array control system includes storage means for storing the instructions.

55. A mooring robot array control system as claimed in claim 54, wherein the storage means is digital storage means.

56. A mooring robot array control system as claimed in claim 55, wherein the storage means is any one selected from a digital disc, magnetic tape, a computer hard disc, flash memory or the like.

57. A mooring robot array control system as claimed in any of claims 37-56, wherein the receiving means and the transmitting means is a communication network. .

58. A mooring robot array control system as claimed in claim 57, wherein the communication network operates through one or more selected from a wireless connection and a cable network.

59. A mooring robot array control system as claimed in claim 35, wherein the array control system includes a mooring robot.

60. A mooring robot array control system as claimed in any of claims 36-59, wherein the array control system includes a plurality of mooring robots.

61. A mooring robot array control system as claimed in any of claims 36-60,, wherein the mooring robots are regularly spaced along a terminal.

62. A mooring robot array control system as claimed in any of claims 36-61, wherein the mooring robots are moveable relative to the terminal.

63. A mooring robot array control system as claimed in claim 62, wherein the mooring robots are moveable under control of the controller.

64. A mooring robot array control system as claimed in any of claims 36-63,, wherein the instructions are configured to direct the processor to determine a possible location of the mooring robot for mooring of the vessel.

65. A mooring robot array control system as claimed in claim 64, wherein the determined possible location is an optimum location for convenient mooring of the vessel.

66. A mooring robot array control system as claimed in claim 64 or 65, wherein the instructions are configured to present a signal indicative of at least one determined possible location to a user as a recommended location, in order for the user to input a signal to authorise movement of the mooring robot to the recommended location.

67. A mooring robot array control system as claimed in claim 64, 65 or 66, wherein the instructions are configured to direct the processor to determine a number of possible locations for the mooring robot for convenient mooring of the vessel.

68. A mooring robot array control system as claimed in any of claims 64-67, wherein the instructions are configured to present the results of the determination as possible locations to a user, in order for the user to input a signal selecting one of the possible locations.

69. A mooring robot array control system as claimed in any of claims 66 or 68, wherein the instructions are configured for receiving an input from a user authorising movement of a mooring robot to at least one recommended location.

70. A mooring robot array control system as claimed in any of claims 66, 68 or 69, wherein the instructions are configured for receiving an input from a user declining ^• authorisation for movement of a mooring robot to at least one recommended location, and inputting an alternative location.

71. A mooring robot array control system as claimed in any of claims 64-70wherein the instructions are configured to receive information about a vessel, to be used in determination of the possible locations for relocation of a mooring robot.

72. A mooting robot array control system as claimed in claim 66, 68, 69 or 70,, wherein the instructions are configured to direct a controller to control the operation of the mooring robot in accordance with the user input.

73. A method of controlling a mooring robot, suitable for controlling at least one of a plurality of mooring robots for mooring a vessel to a terminal, said method comprising the steps of i) receiving a proximity signal from a proximity sensor associated with a mooring robot, said proximity signal being indicative of the proximity of a vessel to the mooring robot; ii) receiving a engagement signal from an engagement sensor associated with the same mooring robot, said engagement signal being indicative of whether the mooring robot is currently engaged with a vessel; and ϋi) processing the proximity signal and the engagement signal to generate a processed signal which is indicative of whether the mooring robot is available for use in mooring a vessel.

74. A method as claimed in claim 73, wherein the method further includes the step of directing the control of the mooring robot in accordance with the generated processed signal.

75. A method as claimed in claim 73 or 74,. wherein the method further includes the step of receiving the proximity signal and the engagement signal from respective proximity sensors and engagement sensors, associated with each of a plurality mooring robots.

76. A method as claimed in any of claims 73-75, wherein the method further includes the step of receiving the proximity signal and the engagement signal from respective proximity sensors and engagement sensors associated with a plurality of mooring robots at regular intervals.^'

77. A method as claimed in any of claims 73-76, wherein the method further includes the step of indicating to an operator a set of proposed mooring robots to a user as being available for use in the mooring of the vessel.

78. A method as claimed in claim 77, wherein the method further includes the step of presenting the set of proposed mooring robots for one or more of authorisation and modification by a user.

79. A method as claimed in claim 78, wherein the method further includes the step of receiving input from a user authorising use of a proposed mooring robot.

80. A method as claimed in claim 78 or 79, wherein the method further includes the step of receiving input from a user prescribing an alternative set of proposed mooring robots for use in mooring a vessel.

81. A method as claimed in any of claims 73-78, wherein the method further includes the step of causing a mooring robot to be designated an armed status if a proximity signal is received, and no engagement signal is received, or an engagement signal is received indicating that the mooring robot is not engaged with a vessel.

82. A method as claimed in any of claims 73-79, wherein the mooring robots are moveable under control of the controller.

83. A method as claimed in any of claims 73-82, wherein the method further includes the step of determining a possible location of a mooring robot which is available for use in mooring a vessel for the convenient mooring of that vessel.

84. A method as claimed in any of claims 73-83, wherein the method further includes the step of presenting a set of possible locations as recommended locations of a mooring robot which is available for use in mooring a vessel to a user for one of authorisation and modification by a user.

85. A method as claimed in claim 84, wherein the method further includes the step of receiving input from a user authorising use of the mooring robot at a recommended location.

86. A method as claimed in claim 84, wherein the method further includes the step of receiving input from a user prescribing an alternative location to the recommended location for a mooring robot.

87. A method as claimed in claim 85, wherein the method further includes the step of controlling the operation of a mooring robot in accordance with the authorisation from the user.

88. A method as claimed in any of claims 73-87, wherein the method further includes the step of receiving information about a vessel.

89. A method as claimed in any of claims 73-88, wherein the method further includes the step of receiving information about a vessel to be moored.

90. A method as claimed in any of claims 73-89, wherein the method further includes the step of receiving information about a vessel that is already moored at the terminal.

91. A method as claimed in claim 88, wherein the information received about a vessel is received using the vessel's Automatic Identification system (AIS)

92. A method as claimed in any of claims 88-91, wherein the method further includes the step of using information received about a vessel or vessels in the determination of recommended locations for a mooring robot.

93. A method as claimed in any of claims 88-92, wherein the method further includes the step of using information received about a vessel or vessels in the determination of the recommended locations for relocation of a mooring robot in order to optimise use of the mooring robots at the terminal.

94. Software for use in a system comprising a plurality of mooring robots for mooring a vessel to a terminal, said software including i) instructions for directing a processor to i receive an engagement signal from an engagement sensor which is configured for sensing whether a mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result; ii receive a proximity signal from a proximity sensor, said proximity sensor being capable of generating a proximity signal indicative of the proximity of a vessel to the same mooring robot; and iϋ process the proximity signal and the engagement signal to generate a processed signal indicative of whether the mooring robot is suitable for use in mooring a vessel.

95. Software as claimed in claim 94, wherein the instructions are configured for directing a controller to control the operation of the mooring robot in accordance with the generated processed signal.

96. Software as claimed in claim 94 or 95, wherein the instructions are configured to direct the controller not to operate a mooring robot to engage with a vessel if the engagement signal indicates that the mooring robot is already engaged with a vessel.

97. Software as claimed in any of claims 94-96, wherein the instructions are configured to direct the controller not to operate a mooring robot to engage with a vessel if the proximity signal indicates that the vessel is not within a predetermined range of operation of the mooring robot.

98. Software as claimed in any of claims 94-97, wherein the instructions are configured for determining whether a mooring robot is available for use in mooring of a vessel.

99. Software as claimed in any of claims 94-98, wherein the instructions are configured to present at least one mooring robot as a proposed mooring robot for one or more of authorisation and modification by the operator..

100. Software as claimed in any of claims 94-99, wherein the instructions are configured to receive user input authorising use of at least one of the presented mooring robots, or authorising at least one alternative mooring robot, or both.

101. Software as claimed in any of claims 94-100, wherein the mooring robots are moveable relative to the terminal under control of the controller.

102. Software as claimed in any of claims 94-101, wherein the instructions are configured to direct the processor to determine a possible location for location of a mooring robot to moor a vessel if one or more of the engagement signal and the proximity signal indicate that the mooring robot is not available for mooring the vessel.

103. Software as claimed in any of claims 94-102, wherein the determined possible location is an optimum location for convenient mooring of the vessel.

104. Software as claimed in claim 102 or 103, wherein the instructions are configured to present a signal indicative of the determined possible location to a user as a recommended location, in order for the user to input a signal to authorise movement of the mooring robot to the recommended location.

105. Software as claimed in any of claims 94-104, wherein the instructions are configured to direct the processor to determine a plurality of possible locations for the mooring robot for convenient mooring of the vessel.

106. Software as claimed in any of claims 102-105, wherein the instructions are configured to present the results of the determined possible locations to a user as recommended locations, in order for the user to input a signal selecting one of the recommended locations.

107. Software as claimed in claim 104 or 106, wherein the instructions are configured to receive user input authorising at least one recommended location, or allocating an alternative location for the mooring robot, or both.

108. Software as claimed in any of claims 100-107, wherein the instructions are configured to direct a controller to control the operation of the mooring robot in accordance with the user input.

109. Software as claimed in any of claims 94-108, wherein the instructions are configured to receive information about a vessel, to be used in determination of the possible locations for relocation of a mooring robot.

110. Software as claimed in any of claims 94-109, wherein the proximity signal may be indicative of the distance from the mooring robot to the vessel to be moored.

111. Software as claimed in any of claims 94-110 wherein the proximity signal may be generated only when the vessel to be moored is within a predetermined range of the mooring robot.

112. Software as claimed in any of claims 94-111, wherein the proximity signal may only be indicative of the presence of a vessel to be moored.

113. Software as claimed in any of claims 94-108, wherein the instructions are configured to allocate an armed status to a mooring robot if a proximity signal is received, and no engagement signal is received.

114. Software as claimed in claim 113, wherein only a mooring robot having an armed status will be available for use in mooring a vessel.

115. Software as claimed in any of claims 94-114, wherein the instructions are configured to direct the processor to receive the proximity signals and engagement signals of a plurality of mooring robots at regular intervals.

116. A mooring robot for use in a mooring robot array control system, said mooring robot including i) an associated proximity sensor for sensing the proximity of an approaching vessel and a being capable of generating a proximity signal indicative of the proximity of a vessel approaching the mooring robot; ii) an associated engagement sensor configured for sensing whether the mooring robot is engaged with a vessel, and capable of generating an engagement signal in accordance with the sensed result; iii) a transmitter for transmitting at least one or both of the proximity signal and the engagement signal for processing by a processor.

117. A mooring robot array control system as claimed in any of claims 1-72, wherein the proximity sensor is capable of sensing the vessel's profile at least proximate the proximity sensor, and the proximity signal is indicative of the vessels profile at least proximate the proximity sensor.

118. A mooring robot array control system as claimed in claim 117, wherein the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable size and shape for engagement by the mooring robot.

119. A mooring robot array control system as claimed in claim 117 or 188, wherein the proximity signal is indicative of one or more selected from i) whether the vessel is suitably planar proximate the proximity sensor for engaging the mooring robot to the vessel or not, and ϋ) whether the vessel has a suitable size and shape proximate the proximity sensor for engagement by the mooring robot.

120. A method as claimed in any of claims 73-93, wherein the proximity sensor is capable of sensing the vessel's profile at least proximate the proximity sensor, and the proximity signal is indicative of the vessels profile at least proximate the proximity sensor.

121. A method as claimed claim 120, wherein the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable size and shape for engagement by the mooring robot.

122. A method as claimed claim 120 or 121, wherein the proximity signal is indicative of one or more selected from i) whether the vessel is suitably planar proximate the proximity sensor for engaging the mooring robot to the vessel or not, and ii) whether the vessel has a suitable size and shape proximate the proximity sensor for engagement by the mooring robot.

123. Software as claimed in any of claims 94-115, wherein the proximity sensor is capable of sensing the vessel's profile at least proximate the proximity sensor, and the proximity signal is indicative of the vessels profile at least proximate the proximity sensor. ^"

124. Software as claimed claim 123, wherein the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable size and shape for engagement by the mooring robot.

125. Software as claimed claim 123 or 124, wherein the proximity signal is indicative of one or more selected from i) whether the vessel is suitably planar proximate the proximity sensor for engaging the mooring robot to the vessel or not, and ii) whether the vessel has a suitable size and shape proximate the proximity sensor for engagement by the mooring robot.

126. A mooring robot as claimed in claim 116, wherein the proximity sensor is capable of sensing the vessel's profile at least proximate the proximity sensor, and the proximity signal is indicative of the vessels profile at least proximate the proximity sensor.

127. A mooring robot as claimed claim 126, wherein the profile sensed by the proximity sensor is indicative of whether the vessel is suitably planar or not, or has a suitable size and shape for engagement by the mooring robot.

128. A mooring robot as claimed claim 126 or 127, wherein the proximity signal is indicative of one or more selected from i) whether the vessel is suitably planar proximate the proximity sensor for engaging the mooring robot to the vessel or not,' and i_t) whether the vessel has a suitable size and shape proximate the proximity sensor for engagement by the mooring robot.