WO2020035632A1 - Appareil et procédé de manipulation automatisée d'amarres - Google Patents

Appareil et procédé de manipulation automatisée d'amarres Download PDF

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Publication number
WO2020035632A1
WO2020035632A1 PCT/FI2019/050402 FI2019050402W WO2020035632A1 WO 2020035632 A1 WO2020035632 A1 WO 2020035632A1 FI 2019050402 W FI2019050402 W FI 2019050402W WO 2020035632 A1 WO2020035632 A1 WO 2020035632A1
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WO
WIPO (PCT)
Prior art keywords
mooring
marine vessel
robot
line
lines
Prior art date
Application number
PCT/FI2019/050402
Other languages
English (en)
Inventor
Tapio Koski
Original Assignee
Lohkoasennus Oy
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 Lohkoasennus Oy filed Critical Lohkoasennus Oy
Priority to EP19728104.1A priority Critical patent/EP3837158A1/fr
Publication of WO2020035632A1 publication Critical patent/WO2020035632A1/fr

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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B63B2021/003—Mooring or anchoring equipment, not otherwise provided for

Definitions

  • the invention relates to an apparatus for assisting mooring of ships and other marine vessels to wharfs and mooring docks.
  • the apparatus comprises means for connecting the vessel to structures of the mooring docks by means of mooring ropes or wires.
  • the invention further relates to an arrangement at the mooring dock and to a method of handling mooring ropes of a marine vessel.
  • An object of the invention is to provide a novel and improved apparatus, arrangement and method for handling mooring ropes of a marine vessel.
  • the apparatus according to the invention is charac terized by the characterizing features of a first independ ent apparatus claim.
  • the arrangement according to the invention is char acterized by the characterizing features of a second inde pendent apparatus claim.
  • the method according to the invention is character ized by the charactering features and steps of an independ ent method claim.
  • mooring lines of a marine vessel are handled by means of one or more mooring robots each of them comprising a robotic arm and a grapple device at a distal end portion for grappling the mooring lines during docking procedure of the marine vessel.
  • the mooring robot connects and releases the mooring lines to fixing devices on a mooring facility.
  • a free end of the mooring line, such as rope, is provided with a loop in order to allow it to be connected to the fixing device, such as a bollard.
  • the mooring robot comprises one or more sensing units or devices for detecting the mentioned loop of the mooring line and control means for controlling the robotic arm and the grapple device close to the loop and to execute the grappling and transportation of the loop and the mooring line between the ship and the fixing device.
  • the operation of the mooring robot is controlled by means of one or more control units, whereby its operation may be automatic .
  • An advantage of the disclosed solution is that when the hazardous manual handling of the mooring lines may be avoided then human accidents and fatalities may be avoided. Moreover, the robotized mooring line handling increases the speed and reliability of the mooring. A further benefit is that thanks to the automated and mechanized rope handling, the docking can be executed also in harsh conditions. Fur ther, the solution may also help lowering overall costs of the ports and ships when less assisting personnel is needed.
  • the disclosed mooring robot is able to automatically moor any type of ship to almost any type of pier with no human assistance from the port.
  • the disclosed system may be implemented without any need of specialization on the ships construction and existing mooring lines. Therefore the dis closed solution is easy to implement.
  • the disclosed solution is also relatively easy to retrofit to the existing docking facilities.
  • effi ciency and productivity of the mooring system may be in creased .
  • the mooring line may be a mooring rope, wire or chain a free end of which is provided with a line eye or loop.
  • the mooring lines are ropes, since they are light in weight and still durable. Light weighted ropes are also well suited for robotic han dling .
  • the mooring facility comprises several fastening devices or fixing devices for connecting the mooring line loop, and wherein the fixing device is rigidly mounted to the mooring dock.
  • the fixing device of the mooring facility may be a bollard, mooring post or mooring bollard post, whereby the mooring line loop may be arranged around the mooring bollard.
  • the apparatus comprises one or more force sensing devices for detecting forces gen erated between the grapple device and the mooring line dur ing the transport and handling operations.
  • An advantage of this feature is that the grip of the grapple device may be configured to loosen its grip in response to the detected force.
  • the ship may move and cause external forces directed towards the robotic arm. This kind of situation may arise, for example, when hard wind, waves or tidal currents move the ship suddenly.
  • the control unit of the robotic arm or the mooring robot may be provided with maximum force limit values and when the sensed force value exceeds the limit value then the mooring line is released. This way, damages to the mooring robot system may be avoided.
  • the apparatus comprising the robotic arm is dimensioned and designed in accord ance with the weight of the mooring line.
  • the apparatus is designed and intended only for handling the mooring lines and has no role in tensioning the mooring lines or generating any kind of mooring forces for restrain ing the ship or moving it. Therefore, the apparatus is provided with a protection system for preventing forces greater than a predefined maximum force limit to be sub jected to the mechanical structure of the apparatus during the mooring process.
  • the protection system may be configured to receive sensing data from the force sensing device of the sensing unit and is configured to control the grapple device to open and release the mooring line in response to the detected force exceeding a predetermined maximum force limit.
  • the apparatus may be provided with a clutch, release device or mechanical fuse for preventing over dimensioned forces to be directed from the mooring line to the apparatus.
  • An advantage of the protection system is that damages to the grapple device and the robotic arm may be effectively prevented.
  • the protection system offers a possibility to safely operate the mooring robot also in hard conditions since the protection system protects the mooring robot in case something unexpected happens .
  • the apparatus is pro vided with a manually operable emergency release device or control feature in case of malfunction or any sudden abnor mal incident during the mooring process and the mooring line handling.
  • the emergency release may be remote controlled from the marine vessel, for example.
  • personnel of the ship may generate a control signal which is received by the control unit of the mooring robot and then the grapple device is opened.
  • the apparatus comprises a release device or safety system that includes a fully mechanical force sensing device, such as a spring.
  • a fully mechanical force sensing device such as a spring.
  • the ap paratus may let go mechanically the mooring line when too high forces are directed to the robotic arm and the solution may then release the mooring line.
  • the apparatus is pro vided with one or more force sensing devices for detecting forces between the grapple device and the mooring line.
  • the control unit of the apparatus is provided with a minimum force limit and generated sensing data from the force sensing device is communicated to the control unit.
  • the control unit is configured to control the grapple device to direct grappling force greater than the minimum force limit towards the mooring line.
  • the second purpose of the force sensing device arranged in connection with the grapple device is for ensuring that sufficient grappling force is directed to the mooring line so that the transfer and handling of the mooring line loop can be executed with out problems. This way reliable, safe and efficient mooring line handling can be ensured when the mooring line is not lost during the normal mooring process.
  • control unit of the apparatus is configured to receive marine vessel specific data and is configured to execute the mooring process in accordance with dedicated mooring instructions of the ma rine vessel.
  • the moor ing instructions and/or preplanned or stored data elements may comprise the following data: type of the marine vessel; size of the marine vessel; location and number of the moor ing line openings on a hull of the marine vessel; number of required mooring lines for proper mooring; possible alter native mooring settings for different weather situations; fixing pattern of the mooring lines; connecting and loos ening order of the mooring lines; type of initiation of the mooring process (i.e. under control of captain or when not ing the loops by a detection system of the mooring robot) .
  • the control unit of the apparatus may be in data communication with an automatic identification system (AIS) and may be configured to receive real-time information on the marine vessel approaching the dock site.
  • AIS automatic identification system
  • the control unit may be configured to retrieve marine vessel mooring instructions on the basis of the identification data of the marine vessel.
  • the con trol unit may be configured to prepare the mooring process beforehand on the basis of the identification data.
  • the identification data may be linked to a data element stored in a memory device of the control unit, or alternatively, the data element is retrieved from an external server, for example.
  • the AIS is configured to send the mooring instructions directly to the control unit of the apparatus when the marine vessel is arriving to the docking site.
  • the robotic arm is con nected to a base, which is provided with a turning joint for allowing the robotic arm to be turned relative to the base.
  • the base is connected to the mooring dock immovably at least for the duration of the executed mooring measures.
  • the base may have a fixed fastening to the mooring dock.
  • the base is mounted on a movable land carrier whereby the robotic arm is an on-board device of a wheeled carrier.
  • the wheeled carrier may be a land vehicle, rubber-tire vehicle, carrier movable on rails or a movable land trailer.
  • the carrier may be a self-propelling vehicle, or alternatively, it may be a trailer or corresponding tow- able structure.
  • the movable land carrier may be moved and parked under manual control to a desired position at the docking site.
  • the operation of the movable land carrier may be executed by an onboard operator or by means of a remote- control from a distance.
  • a further possibility is to arrange automatic positioning system for the carrier and to thereby transport the one or more mooring robots into desired op erating positions.
  • An advantage of the movable mooring ro bots is that their capacity may be utilized more effectively when they can be moved to new active positions after having completed the mounting or loosening of the mooring line at the previous operating position.
  • a limited number of the mooring robots may serve several mooring positions and even several neighboring mooring docks.
  • mooring robots may be carried by one or more land carriers to desired operating positions and may be left there. Then, the base may be provided with suitable legs or other support elements or surfaces for supporting the mooring robot on the ground and possibly anchoring it to be immovable at the operating position after the land carrier has left.
  • the mooring robots and the transfer means are separate de vices and the number of the mooring robots is greater than the number of the transport means.
  • the mooring robot to gether with its base is mounted on an autonomously movable land carrier, which is configured to move and position the mooring robot automatically to the defined mooring positions under control of one or more control units.
  • the autonomously operating carrier is provided with a position detection system for automated transfer and positioning.
  • the carrier is provided with a collision avoidance sys tem for ensuring safe operation of the carrier at the wharf or pier.
  • a master or main control unit may decide the number of needed mooring robots for each marine vessel to be docked and the autonomously movable carriers may transport the mooring robots beforehand to correct positions at the dock ing site.
  • the base of the mooring robot may comprise legs or other support elements or surfaces for supporting the mooring robot on the ground whereby the movable land carrier may bring the mooring robot to the desired position and may thereafter leave the area for picking up other mooring ro bots or for executing other operational tasks at the mooring area .
  • the mooring system com prises several mobile mooring robots which may be moved and positioned to desired positions. Then, reference markings may be arranged on the docking site for determining pre designed operating positions for the mooring robots.
  • the reference markings may be visual markings, electrically readable markings or any other kind machine readable mark ings.
  • the mooring dock may be provided with physical anchoring or positioning means for ensuring accu rate positioning to the pre-determined position.
  • the mooring robot com prises a first sensing unit comprising one or more range finder devices or corresponding sensing devices for detect ing positions of loops of the mooring lines relative to the mooring robot.
  • the mentioned first sensing unit may be lo cated at the distal end portion of the robotic arm.
  • the first sensing unit may communicate the sensing data to a control unit of the mooring robot via a data communication connection.
  • the range finder device of the apparatus is a 3D laser scanner. Then the ranger finder device is capable to generate 3D point cloud data on surroundings of the apparatus and provide the control unit of the apparatus with data for position detection and op erational control.
  • the range finder device may be arranged onboard the robotic arm, or alternatively, it may be ar ranged on a base of the mooring robot.
  • the price of the range finders is relatively low whereby the measuring data may be produced by means of several range finder de vices.
  • One or more range finder devices may also be arranged separate from the mooring robot and sensing data may be communicated to the mooring robot via wireless data commu nication connection.
  • the control unit may comprise a com puter program or algorithm execution of which in a processor is configured to recognize the loops of the mooring lines and the bollards from the produced point cloud and to thereby determine position coordinates and control commands for moving the robotic arm.
  • the sensing system of the mooring robot may be as in the previous embodiment, but the range finder device is a LIDAR.
  • LIDAR devices are re liable, small sized and inexpensive whereby it is relatively easy to implement them in the present solution.
  • One alter native type of a range finder is a time-of-flight camera or sensor (ToF) .
  • the LIDAR and the ToF both produce a point cloud comprising several hit points each provided with co ordinate data.
  • a common advantage for the above mentioned 3D laser scanners, LIDARs and ToFs is that their operation is not sensitive to weather conditions such as rain, fog and snowfall.
  • a further advantage of LIDAR is that is does not comprise any mechanical movable components, wherefore its structure is durable and small in size.
  • operation of the range finder device of the mooring robot is based on visual de tection.
  • the sensing system comprises one or more cam- eras and the control unit is provided with a machine vision computer program or algorithm.
  • the sensing system may then recognize the mooring line and the bollard and may produce needed position coordinates for the system.
  • positions of the fixing devices located at the mooring site may be determined by scanning the surroundings of the apparatus, or alterna tively, the positions of the fixing devices may be taught for the control unit of the apparatus by positioning the grapple device manually at the fixing devices and then stor ing coordinates of the fixing devices.
  • An additional further possibility is to provide the control unit with position coordinates of the bollards or mooring posts.
  • control unit is provided with a searching program for recognizing the line loop from the sensing data received from the range finder device of the first sensing unit.
  • the range finder device may be configured to generate point cloud data and the searching program may identify the shape of the line loop from the point cloud data. Points of the point cloud data are provided with coordinates.
  • the apparatus is con figured to initiate the mooring process in response to re ceived control command from the marine vessel.
  • the control command may be transmitted through wireless data transmis sion from the marine vessel to the apparatus.
  • the captain of the marine vessel may be responsible for the final order to launch the mooring process.
  • the apparatus is con figured to initiate the mooring process in response to a detected mooring line loop hanging on the side of the marine vessel facing the dock.
  • the mooring line is unwound to make the loop visible and this indicates to the apparatus, that the marine vessel is positioned properly and is ready to be moored.
  • the apparatus in addition to a first sensing unit, the apparatus comprises a second sensing unit comprising a second range finder device and configured to cover surroundings of the apparatus and to provide detection data on obstacles at a predetermined working area or reach distance around the apparatus.
  • a second sensing unit comprising a second range finder device and configured to cover surroundings of the apparatus and to provide detection data on obstacles at a predetermined working area or reach distance around the apparatus.
  • the mooring robot is provided with a collision avoidance system.
  • the system may utilize the detection data produced by the first and second range finder devices described above, and may be provided with a collision avoidance computer program and one or more strategies for the collision avoidance.
  • the apparatus is pro vided with at least one security zone surrounding the ap paratus, and is further provided with a collision avoidance system configured to execute collision avoidance measures when obstacles are detected inside the security zone.
  • the security zone may comprise predetermined distances around the mooring robot.
  • the security zone may be a virtual zone without any physical barriers.
  • the collision avoidance measures executed by the collision avoidance system dis closed above may be as follows:
  • the collision avoidance system is configured to stop the movement of the robotic arm; to interrupt the ongoing operation; to reduce movement speed gradually in response to detected distance to the object; to generate an alternative movement path for avoid ing collision and getting too close to the object; to pro prise warning message or signals; to generate control signals for other devices and systems operating at the mooring dock for moving the detected obstacle out of the security zone.
  • the control unit is configured to communicate to the marine vessel a completed connection of the mooring line loop to the fixing device in order to initiate tensioning of the mooring line by means of the mooring winches onboard the marine vessel.
  • the control unit of the mooring robot may communicate with a control system of the winch or with the operating personnel of the winch to unreel the mooring line and to thereby allow the robotic arm to release the loop from the bollard.
  • the mooring process requires co-operation with the mooring robot and the mooring line tensioning system.
  • the mooring robot is without any winch or tensioning device for ten sioning the mooring line. Instead an external tensioning device is utilized after the grappling device or gripper of the apparatus has released to mooring line.
  • the external tensioning device such as the winch may be located onboard the ship, or alternatively it may be arranged in connection with the mooring facility.
  • the robotic arm com prises at least a first arm and a second arm connected to each other by means of a first joint.
  • the grapple device is connected to a distal end portion of the robotic arm by means of a second joint.
  • the robotic arm com prises at least three arms connected to each other by means of joints. However, in some case there may be even more arms connected to each other.
  • At least one of the arms of the robotic arm is longitudinally extendable so that the length of the arm may be increased and decreased.
  • the robotic arm comprises one or more linear joints.
  • the arms of the robotic arm are foldable to an inoperable position and are openable to an operable position.
  • the robotic arm of the mooring robot may be mounted on a base.
  • Height of the base may dimensioned according to safety regulations.
  • the height of the base may be over 2000 mm, such as 2300 mm or 2500 mm so that the robotic arm operates above humans possibly en tering to the operating area of the mooring robot.
  • total horizontal reach range of the robotic arm may be at least 15 m.
  • the reach range may also be dimensioned according to the need.
  • the arrangement for con necting and releasing mooring lines of a marine vessel com prises two or more mooring robots located at the mooring dock and configured to transport the mooring lines between the marine vessel being parked at the mooring position and fixing devices of a mooring facility of the mooring dock.
  • each of the mooring robots comprise dedicated control units.
  • Control units of the several mooring robots are configured to communicate with each other and to share mooring specific data between each other.
  • Mooring instructions may require that the moor ing is executed in a specific manner requiring co-operation with the several mooring robots serving the same ship.
  • mooring specific data generated during the mooring process may be analyzed and the mooring instructions may be amended and stored based on the gathered new data.
  • improved mooring instructions may be used for future mooring processes.
  • the control unit may be provided with a machine learning algorithm, or al ternatively the improvements may be done manually by the personnel .
  • one of the control units of the several mooring robots is configured to serve as a master control unit and the other control units are config ured to operate as slave control units, whereby the master control unit is configured to receive control data from the slave control units and is configured to communicate with one or more external control units or devices for receiving control commands, updated data and instructions.
  • the master control unit is configured to receive control data from the slave control units and is configured to communicate with one or more external control units or devices for receiving control commands, updated data and instructions.
  • one of the slave robots may take over communication in the event of a failure of the master control unit.
  • the mentioned external control unit may be a server, a portable computer or an electronic terminal device.
  • the solution relates to a method of mooring a marine vessel.
  • the method comprises connecting and releasing mooring lines of the marine vessel to fixing devices of a mooring facility located on a mooring dock.
  • the mooring lines of the ship are handled by means of one or more mooring robots, which are operating automati cally under control of one or more control units.
  • Positions of mooring line loops at free ends of the mooring lines are detected by means of sensing units of the mooring robot where after positions of the detected mooring line loops and the fixing devices of the mooring facility relative to the mooring robot are determined.
  • the mooring line loop is grappled by means of a grapple device of the mooring robot and the mooring line loop is transported from the marine vessel to the fixing device, and respectively from the bol lard to the ship.
  • Tensioning of the mooring lines is exe cuted by means of winches only when the grapple device of the mooring robot has released the mooring lines.
  • the robot is without any tensioning feature and the distal end of the mooring line is freely movable when being subjected to robotic handling.
  • the winch for tensioning the mooring line is typically located onboard the marine vessel.
  • the winch or corresponding tensioning device is located on land or on the docking facility.
  • the mooring may robot pick up the mooring line and may transfer it to a loop connecting structure of the winch after which tensioning is initiated.
  • the above disclosed sensing system of the mooring robot may be configured to detect the loop of the mooring line and the loop connecting structure of the winch.
  • the mooring robot may be configured to generate a signal to the control system of the winch of a successful mounting of the mooring line loop around the mooring bollard after which tensioning of the mooring line is initiated.
  • the mooring robot may generate the signal and send it to the marine vessel wherein the winches are controlled manually.
  • control unit of the disclosed apparatus or system is configured to communicate to the marine vessel a completed connection of the mooring line loop to the fixing device in order to initiate ten sioning of the mooring line by means of the mooring winches external to the apparatus.
  • the mooring winches of the marine vessel may controlled under control of the one or more control units, or they may be controlled manually by an operator .
  • the grapple device com prises at least two gripping jaws or surfaces which are movable relative to each other and are able to grip the mooring line between them.
  • the gripping jaws may be shaped in accordance with the shape of the mooring line. Further, material of the gripping jaws may be resilient.
  • the jaws may be moved by means of one or more gripping actuator, which may be operated electrically or hydraulically, for example.
  • the grapple device may be the force sensing system, as is disclosed above in this appli cation .
  • the apparatus is elec trically operable.
  • the mooring robot may be connected to an electrical power supply network and it may comprise one or more electrical actuators such as electrical motors or lin ear motors for moving the robotic arm and the grapple de vice.
  • the mooring robot may comprise a hydraulic or pneumatic systems wherein hydraulic power is generated by hydraulic pressure generating pump actuated by means of an electrical motor.
  • the movement of the mooring robot may be executed either by using the electrical or pressure medium actuators.
  • the mooring robot may be a battery operated device, which is beneficial if the mooring robot is moved between two or more working sites .
  • Figure 1 shows schematically a ship which is parked at a mooring position and mooring ropes are fastened by means of a mooring robot
  • Figure 2 shows schematically some features of the mooring arrangement
  • Figure 3 is a schematic view of a mooring robot provided with a robotic arm with several joints
  • Figure 4 is a schematic side view of a mooring robot provided with an elevated base and being in an extended operational state
  • Figure 5 is schematic side view of the mooring robot of Figure 4 in a folded state
  • Figure 6 is a schematic top view of mooring dock provided with several mobile mooring robots
  • Figure 7 is a schematic top view showing an arrange ment wherein mooring robots are transported to desired lo cations by means of separate transfer vehicles, and
  • Figure 8 is a schematic top view showing a control unit of a mooring robot and features related to the opera tion of the mooring robot.
  • Figure 1 discloses a marine vessel 1, which is po sitioned to a desired mooring position on a mooring dock 2.
  • the marine vessel 1 is fastened to a mooring facility 3 of the mooring dock 2 by means of several mooring lines 4.
  • the mooring facility 3 comprises several fixing devices 5, such as bollards, around which a loop 6 of the mooring line 4 may be arranged.
  • the mooring line 4 is transferred between the marine vessel 1 and the mooring facility 3 by means of one or more mooring robots 7.
  • Figure 1 discloses only one mooring robot for the sake of clarity.
  • the marine vessel 1 may comprise winches or corresponding tensioning devices 8 for tensioning the mooring lines since the mooring robot 7 is intended only for transport purpose.
  • the winches 8 may be arranged on a deck of the marine vessel 1, as it is disclosed in Figure 1, or they may be located inside a hull of the ship.
  • a grapple device 9 of the mooring robot 7 is reaching the loop 6 protruding from a mooring line opening 10.
  • the grapple device 9 is arranged to a distal end of a robotic arm 11.
  • the robot 7 also includes a base 12 for supporting it. Operation of the mooring robot 7 is controlled by means of a control unit CU.
  • a first sensing unit comprising at least one range finder device 13 for detecting the mooring line 4 and especially the loop 6 and also for producing other positioning data.
  • the robot 7 may further comprise a second sensing unit provided with a second range finder device 14 for monitoring surroundings of the mooring robot 7. Further, there may be a safety zone 15 around the mooring robot 7.
  • Figure 2 discloses some features of a mooring ar rangement. The features disclosed in Figure are explained already above in this patent application.
  • Figure 3 discloses a mooring robot 7 provided with a robotic arm 11 with three arms 11a - 11c and arm joints 16 for allowing turning movements T1 - T3.
  • the entire ro botic arm 11 may be turned R around vertical axis.
  • the grapple device 9 may be tilted relative to a grapple joint 17 and at least some of the arms may be provided with linear joints 18. Thereby, the mooring robot 7 may be moved in a versatile manner when transferring the mooring lines 4 and operating at the mooring work site.
  • Figure 4 discloses a mooring robot 7 and its robotic arm 11.
  • the robotic arm 11 may comprise several arms, arm joints 16 and linear joints 18 so that it has a relatively wide reach range.
  • a base 12 of the robot 7 may be dimensioned to be relatively high so that the robotic arm 11 operates above humans 19 and may thereby fulfil safety regulations.
  • the base 12 may comprise a turning motor 20 for executing turning movements, and the robotic arm 11 comprise needed actuators 21 for moving the arms.
  • Figure 5 shows the same robotic arm 11 in a folded position.
  • Figure 6 discloses a mooring system wherein several mooring robots 7 are moved by means of movable carriers 22, such as vehicles or trailers, to desired positions on a mooring dock 2.
  • the carriers 22 may be freely movable or they may be moved along a pre-determined movement path 23, such as rails or navigation aids.
  • one self-propelling carrier 22 navigating on one or mooring docs may serve a plurality of robots.
  • Figure 8 discloses features of a control unit of a mooring robot. These features are discussed already above in this patent document.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Ocean & Marine Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil, un ensemble et un procédé d'aide à la manipulation d'amarres (4) pendant des opérations d'amarrage de navires marins (1). L'appareil comprend un bras robotique (11) et un dispositif de préhension (9) au niveau d'une partie d'extrémité du bras. La boucle (6) de l'amarre est détectée au moyen d'un dispositif de télémétrie (13) et la boucle est saisie au moyen du dispositif de préhension. Ensuite, la boucle est transférée du navire à un bollard (5).
PCT/FI2019/050402 2018-08-15 2019-05-23 Appareil et procédé de manipulation automatisée d'amarres WO2020035632A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19728104.1A EP3837158A1 (fr) 2018-08-15 2019-05-23 Appareil et procédé de manipulation automatisée d'amarres

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20185681 2018-08-15
FI20185681A FI129378B (en) 2018-08-15 2018-08-15 Equipment and method for automatic handling of mooring ropes

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WO2020035632A1 true WO2020035632A1 (fr) 2020-02-20

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EP (1) EP3837158A1 (fr)
FI (1) FI129378B (fr)
WO (1) WO2020035632A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020187887A1 (fr) * 2019-03-18 2020-09-24 Macgregor Norway As Structure d'amarrage pour l'amarrage automatique d'un vaisseau à un quai et procédé d'amarrage
IT202100011906A1 (it) * 2021-05-10 2021-08-10 Moorsimply S R L Dispositivo di assistenza all'ormeggio
WO2021211627A1 (fr) * 2020-04-13 2021-10-21 Sirkin Eric R Procédés et appareil pour mesurer et contrôler une opération d'ancrage
CN113761668A (zh) * 2021-09-28 2021-12-07 江南造船(集团)有限责任公司 船舶系泊控制方法、系统、介质及电子设备
CN114809089A (zh) * 2022-04-27 2022-07-29 中交第一航务工程局有限公司 多个沉管同时出坞的方法
EP4046902A1 (fr) 2021-02-18 2022-08-24 Moorsimply S.r.l. Dispositif d'assistance à l'amarrage
WO2024038257A1 (fr) * 2022-08-16 2024-02-22 Submarine Technology Limited Système de fixation d'un navire et son procédé pour le faire

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6018081U (ja) * 1983-07-16 1985-02-07 三菱重工業株式会社 自動係船装置
KR20130134838A (ko) * 2012-05-31 2013-12-10 한국과학기술원 계류용 로봇아암
WO2017167877A1 (fr) * 2016-03-31 2017-10-05 A.P. Møller - Mærsk A/S Bateau doté d'un système d'amarrage et procédé d'amarrage automatique d'un bateau

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6018081U (ja) * 1983-07-16 1985-02-07 三菱重工業株式会社 自動係船装置
KR20130134838A (ko) * 2012-05-31 2013-12-10 한국과학기술원 계류용 로봇아암
WO2017167877A1 (fr) * 2016-03-31 2017-10-05 A.P. Møller - Mærsk A/S Bateau doté d'un système d'amarrage et procédé d'amarrage automatique d'un bateau

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020187887A1 (fr) * 2019-03-18 2020-09-24 Macgregor Norway As Structure d'amarrage pour l'amarrage automatique d'un vaisseau à un quai et procédé d'amarrage
WO2021211627A1 (fr) * 2020-04-13 2021-10-21 Sirkin Eric R Procédés et appareil pour mesurer et contrôler une opération d'ancrage
US11396352B2 (en) 2020-04-13 2022-07-26 Eric R. Sirkin Methods and apparatus for measuring and monitoring an anchoring operation
EP4046902A1 (fr) 2021-02-18 2022-08-24 Moorsimply S.r.l. Dispositif d'assistance à l'amarrage
IT202100011906A1 (it) * 2021-05-10 2021-08-10 Moorsimply S R L Dispositivo di assistenza all'ormeggio
CN113761668A (zh) * 2021-09-28 2021-12-07 江南造船(集团)有限责任公司 船舶系泊控制方法、系统、介质及电子设备
CN114809089A (zh) * 2022-04-27 2022-07-29 中交第一航务工程局有限公司 多个沉管同时出坞的方法
CN114809089B (zh) * 2022-04-27 2024-01-30 中交第一航务工程局有限公司 多个沉管同时出坞的方法
WO2024038257A1 (fr) * 2022-08-16 2024-02-22 Submarine Technology Limited Système de fixation d'un navire et son procédé pour le faire

Also Published As

Publication number Publication date
FI20185681A1 (en) 2020-02-16
EP3837158A1 (fr) 2021-06-23
FI129378B (en) 2022-01-14

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