WO2009072906A3 - Mooring robot array control system and method therefore - Google Patents

Mooring robot array control system and method therefore Download PDF

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Publication number
WO2009072906A3
WO2009072906A3 PCT/NZ2008/000326 NZ2008000326W WO2009072906A3 WO 2009072906 A3 WO2009072906 A3 WO 2009072906A3 NZ 2008000326 W NZ2008000326 W NZ 2008000326W WO 2009072906 A3 WO2009072906 A3 WO 2009072906A3
Authority
WO
WIPO (PCT)
Prior art keywords
mooring
vessel
control system
robots
array control
Prior art date
Application number
PCT/NZ2008/000326
Other languages
French (fr)
Other versions
WO2009072906A2 (en
Inventor
Peter James Montgomery
Original Assignee
Cavotec Msl Holdings Ltd
Peter James Montgomery
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cavotec Msl Holdings Ltd, Peter James Montgomery filed Critical Cavotec Msl Holdings Ltd
Publication of WO2009072906A2 publication Critical patent/WO2009072906A2/en
Publication of WO2009072906A3 publication Critical patent/WO2009072906A3/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)

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.
PCT/NZ2008/000326 2007-12-04 2008-12-04 Mooring robot array control system and method therefore WO2009072906A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NZ564009 2007-12-04
NZ56400907A NZ564009A (en) 2007-12-04 2007-12-04 Mooring robot array control system and method therefore

Publications (2)

Publication Number Publication Date
WO2009072906A2 WO2009072906A2 (en) 2009-06-11
WO2009072906A3 true WO2009072906A3 (en) 2009-08-20

Family

ID=40718392

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NZ2008/000326 WO2009072906A2 (en) 2007-12-04 2008-12-04 Mooring robot array control system and method therefore

Country Status (2)

Country Link
NZ (1) NZ564009A (en)
WO (1) WO2009072906A2 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58136585A (en) * 1982-02-10 1983-08-13 Hitachi Zosen Corp Ship mooring method
JPS608185A (en) * 1983-06-28 1985-01-17 Mitsubishi Heavy Ind Ltd Automatic ship level holding device
WO2001062585A1 (en) * 2000-02-26 2001-08-30 Mooring Systems Limited Mooring device
WO2004011326A1 (en) * 2002-07-30 2004-02-05 Mooring Systems Limited Mooring system with active control
WO2006006879A1 (en) * 2004-07-09 2006-01-19 David Stanley Hendrick Geurts Boat mooring method, apparatus and system
US7021231B2 (en) * 2000-12-01 2006-04-04 Billy-Jay Smart Vessel navigation and docking system and method
WO2009041834A1 (en) * 2007-09-26 2009-04-02 Cavotec Msl Holdings Limited Mooring system and control
WO2009054739A1 (en) * 2007-10-24 2009-04-30 Cavotec Msl Holdings Limited Automated docking and mooring system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58136585A (en) * 1982-02-10 1983-08-13 Hitachi Zosen Corp Ship mooring method
JPS608185A (en) * 1983-06-28 1985-01-17 Mitsubishi Heavy Ind Ltd Automatic ship level holding device
WO2001062585A1 (en) * 2000-02-26 2001-08-30 Mooring Systems Limited Mooring device
US7021231B2 (en) * 2000-12-01 2006-04-04 Billy-Jay Smart Vessel navigation and docking system and method
WO2004011326A1 (en) * 2002-07-30 2004-02-05 Mooring Systems Limited Mooring system with active control
WO2006006879A1 (en) * 2004-07-09 2006-01-19 David Stanley Hendrick Geurts Boat mooring method, apparatus and system
WO2009041834A1 (en) * 2007-09-26 2009-04-02 Cavotec Msl Holdings Limited Mooring system and control
WO2009054739A1 (en) * 2007-10-24 2009-04-30 Cavotec Msl Holdings Limited Automated docking and mooring system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN *

Also Published As

Publication number Publication date
NZ564009A (en) 2010-07-30
WO2009072906A2 (en) 2009-06-11

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