초록 ▼

A mooring system for receiving and exercising at least partial control over the approach of a vessel approaching a mooring facility. An array of mooring robots are mounted to the mooring facility. Each robot has at least one vessel contact member supported by a moving mechanism in a manner to thereb

A mooring system for receiving and exercising at least partial control over the approach of a vessel approaching a mooring facility. An array of mooring robots are mounted to the mooring facility. Each robot has at least one vessel contact member supported by a moving mechanism in a manner to thereby be (i) movable relative to the mooring facility and (ii) presentable to engage the side of said vessel. A sensor can sense the position of the vessel relative the mooring facility. A processor can calculate movement instructions based on information received by the processor to calculate instructions for the movement of the contact member during the receipt of the vessel by the mooring system. A controller can preposition the contact member and then control the condition of each mooring robot such as to reduce the approach speed of the vessel at least in a direction towards the mooring facility.

대표청구항 ▼

1. A mooring system, suitable for mooring a vessel moving relative to a terminal by at least one mooring facility mounted mooring robot that includes an engaging mechanism actuatable to engage with a vessel and a moving mechanism for moving the engaging mechanism relative to said mooring facility an

1. A mooring system, suitable for mooring a vessel moving relative to a terminal by at least one mooring facility mounted mooring robot that includes an engaging mechanism actuatable to engage with a vessel and a moving mechanism for moving the engaging mechanism relative to said mooring facility and at least one or more emergency buffer elements suitable for absorbing the energy of an approaching vessel with kinetic energy which is in excess of that absorbable by the mooring robots in a direction toward the mooring facility, thereby to provide additional protection for the vessel, mooring facility and/or mooring robot, the emergency buffer elements being movable between a non-deployed position and a deployed position; said mooring system comprising; a) a location sensing system suitable for sensing the location of a vessel and generating a location signal corresponding to the sensed location of the vessel;b) movement calculating instructions for instructing a processor to use the generated location signal for calculating an index indicative of the movement required of at least one mooring robot in order to engage the engaging mechanism of said at least one mooring robot with the vessel without causing significant initial change in inertia of the vessel;c) movement directing instructions configured for directing a control system to control the movement of the mooring robot and the emergency buffer element(s) in accordance with the calculated index(es);d) wherein one or more selected from the movement calculating instructions and the movement directing instructions utilises the location signal to direct the processor to calculate an index indicative of one or more selected from; the velocity of said vessel relative to the terminal,the acceleration or deceleration of said vessel,the kinetic energy of said vessel, andthe inertia of said vessel; ande) wherein the movement directing instructions are configured to direct the control system to move the emergency buffer element(s) to their deployed position upon detection, via the location sensing system and/or the mooring robot(s), that the vessel's kinetic energy is greater than what can be absorbed by the mooring robot(s). 2. A mooring system as claimed in claim 1 wherein the movement calculating instructions are also for calculating an index indicative of the movement required of at least one mooring robot in order to smoothly transition the application of forces between the vessel and the mooring robot in at least a direction of movement of the vessel towards the mooring facility. 3. A mooring system as claimed in claim 1 wherein the mooring system includes movement directing instructions configured for directing a control system to control the movement of said at least one mooring robot in accordance with the calculated index(es). 4. A mooring system as claimed in claim 3 wherein the movement directing instructions are configured for directing at least one mooring robot to engage with and interact with the vessel to reduce its kinetic energy. 5. A mooring system as claimed in claim 3 wherein the mooring system includes a control system for controlling movement of the moving mechanism in accordance with that directed by the movement directing instructions. 6. A mooring system as claimed in claim 1 wherein the movement directing instructions are configured for directing at least one mooring robot to extend the engaging mechanism away from the mooring facility and towards the approaching vessel, and then retract the engaging mechanism towards the mooring facility at a velocity smaller than the velocity of the approaching vessel in that direction so that the vessel makes initial contact with the mooring robot to thereby ensure smooth deceleration of the vessel to bring it to a halt. 7. A mooring system as claimed in claim 1 wherein the movement directing instructions are configured for directing a plurality of mooring robots of the mooring system that are arranged in an array at said mooring facility. 8. A mooring system as claimed in claim 1 wherein the movement directing instructions are configured for directing a plurality of mooring robots to provide an optimised array configuration for absorbing the kinetic energy of an approaching vessel in a manner to prevent a sudden change in force applied to a mooring robot by the said vessel. 9. A mooring system as claimed in claim 8 wherein the optimised array configuration includes the arrangement of the engaging mechanisms of the each mooring robot such that they all engaged with the vessel simultaneously. 10. A mooring system as claimed in claim 8 wherein the optimised array configuration includes the arrangement of the engaging mechanisms of the each mooring robot such that they all engaged with the vessel non-simultaneously. 11. A mooring system as claimed in claim 10 wherein the mooring robots are positioned in a linear array relative the mooring terminal and the optimised array configuration includes the arrangement of the engaging mechanisms in a manner that results in not all of the engaging mechanisms of each mooring robot engaging simultaneously with the vessel when the vessel, having a port or starboard side, is approaching the array with the port or starboard sides at an angle with respect to the array. 12. A mooring system as claimed in claim 10 wherein the optimized array configuration includes the arrangement of the engaging mechanisms of each mooring robot such that they are all engaged with the vessel sequentially. 13. A mooring system as claimed in claim 8 wherein the control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s) once the vessel has been moored. 14. A mooring system as claimed in claim 8 wherein the control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s), and to move the vessel to a predetermined configuration relative to the terminal once the vessel has stopped moving during initial mooring of the vessel. 15. A mooring system as claimed in claim 8 wherein the control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s) during initial mooring of the vessel to then exercise some control over the speed of the vessel in a direction towards the mooring facility and a horizontal direction perpendicular thereto. 16. A mooring system as claimed in claim 8 wherein the control system is configurable to actuate the engaging mechanism to engage with and secure the vessel to the terminal via the mooring robot(s), and to move the vessel to a predetermined distance relative to the terminal once the vessel has stopped moving during initial mooring of the vessel. 17. A mooring system as claimed in claim 1 wherein the moving mechanism includes at least one hydraulic cylinder, and kinetic energy of the approaching vessel is reduced by the flow of fluid through the hydraulic cylinder. 18. A mooring system as claimed in claim 1 wherein the mooring system includes a processor for performing calculations. 19. A mooring system as claimed in claim 1 wherein the mooring system includes at least one storage means for storing the movement calculating instructions or movement directing instructions or both. 20. A mooring system as claimed in claim 1 wherein the mooring system includes a transceiver for receiving and transmitting signals. 21. A mooring system as claimed in claim 1 wherein the location sensing system includes at least one Global Positioning System (GPS). 22. A mooring system as claimed in claim 1 wherein the location sensing system includes at least one localised distance sensing system and/or a localised positioning system. 23. A mooring system as claimed in claim 22 wherein the localised distance sensing system includes a distance sensor fixed relative to one of the mooring robot and mooring facility. 24. A mooring system as claimed in claim 1 wherein the mooring system includes at least one mooring robot. 25. A mooring system as claimed in claim 1 wherein the mooring system includes a plurality of mooring robots. 26. A mooring system as claimed in claim 25 wherein the control system controls each of the plurality of mooring robots to be controlled independently of each other. 27. A mooring system as claimed in claim 25 wherein the control system controls each of the plurality of mooring robots to be controlled independently of each other but operate in concert with each other. 28. A mooring system as claimed in claim 1 wherein one or more selected from the movement calculating instructions and the movement directing instructions is configured to receive information relating to the characteristics of said vessel to be moored. 29. A mooring system as claimed in claim 28 wherein the characteristics are one or more selected from unladen weight, laden weight, length, and any other characteristic of the vessel. 30. A mooring system as claimed in claim 28 wherein the mooring system is configured to receive information about characteristics of the vessel from the vessel's Automatic Identification System. 31. A mooring system as claimed in claim 28 wherein one or more selected from the movement calculating instructions and the movement directing instructions utilises the location signal to direct the processor to calculate an index indicative of one or more selected from; a) the velocity of said vessel relative to the terminal,b) the acceleration or deceleration of said vessel,c) the kinetic energy of said vessel, andd) the inertia of said vessel. 32. A mooring system as claimed in claim 1 wherein the at least one or more emergency buffer elements are normally retained in their non-deployed positions, and move automatically to their deployed positions upon detection, via the location sensing system and/or the mooring robots, that the vessel's kinetic energy is greater than what can be absorbed by the mooring robot(s). 33. A mooring system as claimed in claim 1 wherein the mooring system includes a plurality of emergency buffer elements. 34. A mooring system as claimed in claim 1 wherein, when one or more of the calculated kinetic energy and inertia of an approaching vessel in at least a direction towards the mooring facility is above the energy absorption capability of the mooring robot or mooring robots when acting in concert, the movement directing instructions are configured for directing the mooring robot(s) to absorb as much energy of the approaching vessel as possible without being damaged, before withdrawing to a protected position in which the mooring robots are shielded from damage by the vessel by the at least one or more buffer elements. 35. A mooring system as claimed in claim 1 wherein the mooring system is configurable between an activated state in which the location sensing system of the system is operable to detect the location of an approaching moving vessel and control the mooring robot(s) in response to the detected location of the vessel, and a deactivated state in which the location sensing system is not operable. 36. A mooring system as claimed in claim 1 wherein the mooring system uses information received from an Automatic Identification Systems (AIS) of individual vessels to identify the approaching vessel and determine relevant information relating to that vessel. 37. A mooring system as claimed in claim 1 wherein the mooring system uses information received from the Automatic Identification Systems (AIS) of individual vessels to identify an approaching vessel and determine relevant information relating to that vessel, for use in one or more selected from; a) calculating an index indicative of the movement required of the mooring robot in order to prevent significant initial transfer of forces between the vessel and the mooring robot on engagement of the vessel by the engaging mechanism;b) calculating an index indicative of the movement required of the mooring robot in order to smoothly transition the application of forces between the vessel and the mooring robot to stop or slow the moving vessel without it undergoing a sudden deceleration; andc) activating the mooring system from an inactive state to an active state. 38. A mooring system as claimed in claim 1 wherein the engaging mechanism of the mooring robots includes a suction cup in fluid communication with a suction source, which allows the suction cup to attach to the hull of the vessel by suction force. 39. A mooring system as claimed in claim 1 wherein the engaging mechanism includes a protective member for protecting the suction cup from abrasion against the vessel when the engaging mechanism engages with the vessel during initial mooring of the vessel. 40. A mooring system as claimed in claim 39 wherein the protective member is moveable between a protective position in which the suction cup is protected from abrasion by the vessel, and a retracted position in which the suction cup can engage and secure with the vessel. 41. A mooring system as claimed in claim 1 wherein the moving mechanism includes at least one moveable arm linkage located intermediate of a foundation of the mooring robot that is mounted to the mooring facility and the engaging mechanism. 42. A mooring system as claimed in claim 1 wherein the moving mechanism allows controlled movement of the securing mechanism relative to the mooring facility. 43. A mooring facility that includes a mooring system as claimed in claim 1. 44. A method of mooring a vessel utilising at least one mooring facility comprising a location sensing system; emergency buffer elements movable between a deployed and a non-deployed position; and at least one or more mooring robots each comprising an engaging mechanism for engaging with the side of a vessel approaching a mooring facility, and a moving mechanism for moving the engaging mechanism, said method comprising the steps of; a) measuring the location of a vessel relative to a terminal by way of a location sensing system;b) calculating an index value indicative of the kinetic energy of the approaching vessel at least in a direction acting towards the mooring facility; andc) deploying said emergency buffer elements to their deployed position upon detection, via the location sensing system and/or the mooring robot(s), that a vessel's kinetic energy is greater than what can be absorbed by the mooring robots. 45. A method of mooring a vessel as claimed in claim 44 wherein the method includes the step of calculating an index indicative of the movement required of the mooring robot in order to move the vessel while smoothly transitioning the application of forces between the vessel and the mooring robot. 46. A method of mooring a vessel as claimed in claim 45 wherein the method includes the step of calculating an index indicative of the movement required of the mooring robot in order to slow the movement of the vessel towards the mooring facility without a sudden deceleration, thereby preventing damaging collision of the vessel with the mooring facility. 47. A method of mooring a vessel as claimed in claim 44 wherein the method includes the steps of directing a controller to control movement a mooring robot in accordance with the calculated index to bring the vessel to a stop without a sudden deceleration. 48. A method of mooring a vessel as claimed in claim 44 wherein the method includes the step of activating the location sensing system to sensitise it to the approach of a vessel. 49. A method of mooring a vessel as claimed in claim 48 wherein the step of activating the location sensing system is carried out automatically by the Automatic Identification System (AIS) of the vessel. 50. A method of mooring a vessel as claimed in claim 44 wherein the method includes the steps of extending at least part of engaging mechanism towards the approaching vessel, and then retracting the extended part at a velocity that is slower than the approaching vessel, thereby causing the approaching vessel to engage with the extended part without causing impact damage to the mooring robot and/or the vessel. 51. A method of mooring a vessel as claimed in claim 44 wherein the method comprises the steps of calculating an index associated with the movement required by the mooring robot to engage the engaging mechanism with the vessel in order to prevent significant initial transfer of forces between the vessel and the mooring robot on engagement of the vessel by the engaging mechanism when the index value indicative of the kinetic energy of the approaching vessel is smaller than what can be absorbed by the mooring robots. 52. A method of operating a mooring system suitable for receiving a vessel that is approaching a mooring facility that includes emergency buffer elements movable between a deployed and non-deployed position; a plurality of mooring robots mounted to a mooring facility, said mooring robots including an engaging mechanism for engaging with the side of a vessel and a moving mechanism for moving the engaging mechanism relative the mooring facility, said mooring robots forming part of a system that comprises; a) a location sensing system suitable for sensing the location of and/or part of the vessel relative to the mooring facility and/or each of the mooring robots and/or each of the engaging mechanisms,b) and a processor for calculating movement required by the engaging mechanism of each mooring robot, andc) a controller to control movement of the mooring robots in response to information received from the processor,said method comprising the steps of;d) providing movement calculating instructions for instructing the processor to use a generated location signal for calculating an index representative of the kinetic energy of the vessel; ande) configuring the instructions to direct the processor to use deploy the emergency buffer elements to their deployed position in the event that the calculated kinetic energy of the approaching vessel is greater than what can be absorbed by the mooring robot(s). 53. A method of mooring a vessel utilising at least one mooring facility mounted mooring robot that comprising an engaging mechanism for engaging with the side of a vessel approaching a mooring facility, and a moving mechanism for moving the engaging mechanism, said method comprising the steps of; a) measuring the location of a vessel relative to a terminal by way of a location sensing system;b) calculating an index value associated with the movement required by the mooring robot to engage the engaging mechanism with the vessel in a condition to allow control of movement of the mooring robot to reduce the kinetic energy of the vessel in at least a direction acting towards the mooring facility by the mooring robot, while resulting in the smooth transition in the application of force between the mooring robot and said vessel;c) calculating an index indicative of the kinetic energy of the vessel;d) instructing the deployment of emergency buffer elements to a deployed condition to shield the mooring robot in the event that the calculated index indicative of the kinetic energy of a vessel exceeds a predetermined threshold.