WO2009041834A9 - Système d'amarrage et commande - Google Patents

Système d'amarrage et commande Download PDF

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Publication number
WO2009041834A9
WO2009041834A9 PCT/NZ2008/000251 NZ2008000251W WO2009041834A9 WO 2009041834 A9 WO2009041834 A9 WO 2009041834A9 NZ 2008000251 W NZ2008000251 W NZ 2008000251W WO 2009041834 A9 WO2009041834 A9 WO 2009041834A9
Authority
WO
WIPO (PCT)
Prior art keywords
mooring
vessel
hull
velocity
coupler
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/NZ2008/000251
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English (en)
Other versions
WO2009041834A1 (fr
Inventor
Peter James Montgomery
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cavotec MSL Holdings Ltd
Original Assignee
Cavotec MSL Holdings Ltd
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 filed Critical Cavotec MSL Holdings Ltd
Publication of WO2009041834A1 publication Critical patent/WO2009041834A1/fr
Publication of WO2009041834A9 publication Critical patent/WO2009041834A9/fr
Priority to US12/732,131 priority Critical patent/US8408153B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • B63B2021/006—Suction cups, or the like, e.g. for mooring, or for towing or pushing

Definitions

  • the present invention relates to a mooring system for vessel mooring facilities, and in particular, although not solely, to a vacuum mooring device.
  • Mooring devices can be used to secure vessels when they arrive at mooring facilities such as docks, locks, wharfs and the like.
  • the mooring device prevents the vessel from drifting away from the docking position.
  • Vacuum mooring systems are commonly utilised, such as shown in Figure 1. These include a number of mooring devices Ia- Id each having a suction or vacuum pad supported by a rig that is attached to the dock 2 or other mooring facility. When a vessel 3 approaches the mooring facility 2, the rig is operated to manoeuvre the suction pads to the hull of the vessel 3 until they attach to the hull. The rig may use hydraulic rams to do so.
  • Mooring devices can withstand large forces due to the significant mass of vessels. Even so, a mooring device can be damaged if it is not operated correcdy by the operator, or if the vessel is moving too quickly.
  • the present invention consists in a mooring system for securing a vessel to a mooring facility, said mooring system comprising: at least one mooring device for installation at a mooring facility in a position to allow the mooring device to assist in holding a vessel relative to the mooring facility, each device comprising a rig and a hull coupler moveably supported relative the mooring facility by said rig, at least one position and/or velocity sensor, for sensing position and/or velocity of a proximate vessel and/or part of the vessel that is or is to be held by the mooring device relative the mooring facility, relative to the mooring facility and/or the hull coupler of said at least one mooring device, and a controller to at least control the at least one mooring device based on information received from or derived from the sensor.
  • the system further comprising an output device for outputting, (based at least in part on information received from or derived from the sensor) a. visual information indicating the velocity and/or position of the proximate vessel and/or part(s) of the vessel relative to at least one of the mooring facility and the at least one mooring device, b. a graphical representation of the proximate vessel indicating the velocity and/or position of the vessel and/or part(s) of the vessel, c. an audible or visual warning if the velocity of the proximate vessel or part of the vessel exceeds a threshold.
  • the controller can control the rig of at least one mooring device to alter the position and/or velocity of the respective hull coupler of the mooring device relative to the mooring facility, when not coupled to the vessel in a manner to at least partially adjust for the position and/or velocity of an approaching vessel.
  • the controller can control the rig, in response to said information, automatically or under human control.
  • At least two mooring devices are provided to be located at spaced apart locations at the mooring facility, and wherein at least one sensor is provided to determine the location and/or velocity of a location of those parts of the proximate vessel proximate most each hull coupler of the at least two mooring devices.
  • the controller can control the rig of each mooring device to allow the position and/or velocity of the hull coupler of a respective mooring device to be changed relative to the mooring facility in response to location and/or velocity information sensed by the at least one sensor.
  • the hull coupler can be controlled so that during coupling thereof with the proximate vessel the velocity of the hull coupler relative the mooring facility is such as to reduce the impact of initial contact between the hull and the hull coupler when compared to if the hull couplers is held stationary relative the mooring facility.
  • the controller can control the velocity of the hull coupler in response to the information sensed by the at least one sensor.
  • the controller can control the position of the hull coupler in response to the information sensed by the at least one sensor.
  • the controller can position the hull coupler in a position relative said mooring facility such that at the instance of initial contact with the hull of the proximate vessel during the coupling of the vessel with the mooring device, the rig is in a condition to allow it to move in a manner to facilitate the movement of the hull coupler, when coupled to the vessel, in a direction that that part of the vessel with which it is engaged, is moving upon the initial contact.
  • the position that the controller moves the hull coupler to is one that provides for the maximum distance of travel to be provided for, for the hull coupler, by the rig.
  • each mooring device is operable to move, relative to the mooring facility, the respective hull coupler up and down and horizontally towards and way from an approaching vessel.
  • the hull coupler is a suction pad.
  • the sensors provide position information on an approaching vessel and/or part or parts of the vessel, from which the system can calculate the velocity of the vessel and/or part or parts of the vessel.
  • at least one sensor is disposed on one or more of the mooring devices.
  • At least one sensor is disposed on or adjacent a mooring facility.
  • the at least one sensor can detect or allow the derivation of one or more of: the position and/or velocity of the bow of a vessel, the position and/or velocity of the stern of a vessel, the position and/or velocity of the hull of a vessel, and the athwartship position or velocity of a vessel, relative at least one of the mooring facility and the hull coupler of the or each mooring device.
  • the senor(s) can be used to derive information on the change in velocity of the vessel or part of the vessel.
  • the present invention consists in a mooring facility comprising a mooring system according what is described above.
  • the present invention consist in a method of mooring a vessel at a mooring facility that includes at least one mooring device positioned to allow the mooring device to assist in holding a vessel relative to the mooring facility, each device comprising a rig and a hull coupler moveably supported relative the mooring facility by said rig, said method comprising: sensing the position and/or velocity and/or change in velocity of one or more of the (a) bow, (b) stern, (c) hull, (d) part of the hull at where the hull coupler is to engage, of an approaching vessel, and the method further comprising, based on what is sensed, at least one of i.
  • a warning for a mooring facility operator if the vessel's approach to the mooring facility exceed a predetermined threshold, ii. providing visual and/or audible information indicating the velocity and/or change in velocity and/or position of a vessel or part or parts of the vessel relative at least one of the mooring facility and the hull coupler of the or each mooring device, i ⁇ . operating one or more mooring devices to alter the position of a respective hull coupler to at least partially adjust for the position and/or velocity of an approaching vessel.
  • die present invention consists in a method of operating a mooring system according to what is described above comprising one or more of: providing die information- indicative of the velocity and/or position of an approaching vessel to an operator to allow them to decide to (i) operate the mooring device(s) to secure the vessel, or ( ⁇ ) to operate (or not) the mooring device to prevent the vessel being secured.
  • the information is provided as graphical representation and will also include a warning (visual and/or audible) if the vessel's approach to the mooring facility exceed a predetermined threshold.
  • the method includes the control of mooring device(s) to manipulate the rig to alter the position and/or velocity of the hull coupler to at least partially adjust for the position and/or velocity of an approaching vessel.
  • the present invention consist in a mooring system or method according to what is described above wherein the mooring facility can be one or more of: a lock, a dock, a wharf, a barge.
  • the present invention consist in mooring facility that includes the mooring system as herein before described.
  • the term “and/or” means “and” or “or”, or both.
  • Figure 1 shows a vessel secured to a mooring facility using a VMS
  • Figure 2 shows a vessel approaching a mooring system in accordance with one embodiment of the invention
  • Figure 3 shows an output device giving graphical information regarding the position and/or velocity of an approaching vessel
  • Figure 4 shows a side elevation view of a mooring device arranged on a mooring facility in accordance with one embodiment of the invention
  • Figure 5 shows a perspective view of two mooring devices arranged on a mooring facility according to one embodiment in perspective.
  • Figure 6 shows a mediod according to the present invention.
  • Figure 2 shows, in schematic form, the present invention according to one embodiment.
  • the present invention allows for sensing or detection of the position and/or velocity of a vessel 20 as it approaches a mooring facility 10, and operation of the mooring system 11 in accordance with the sensed/detected information.
  • the mooring facility 10 could be a lock, dock, wharf, barge or the like.
  • the mooring facility is a lock 10 comprising two lateral sides 22a, 22b and a gate 21 or gates.
  • the mooring system (generally labelled 11) is installed at the mooring facility 10.
  • the mooring system comprises one or more mooring devices e.g. 23a-23d, position sensors 26a, 26b, 27a-27d, and a controller system 28.
  • the controller system can more generally be termed a "controller”.
  • the term "controller” can refer to the control system 28 as a whole, or some part thereof.
  • the controller system enables monitoring of the sensors, processing of information from the sensors, and general control of the mooring devices.
  • the controller system 28 can comprise, for example, a computer 25 and programmable logic controller (PLC) 24.
  • PLC programmable logic controller
  • Each mooring device 23a-23d comprises one or more hull couplers 29a-29d, such as suction or vacuum cups.
  • a rig 30a-30d may hold the cups in a movable manner relative to the dock. Whilst herein there is reference to vacuum cups, the cups may not draw a complete vacuum but instead create sufficient pressure differential to the ambient air pressure in order to remain attached to the vessel.
  • Each mooring device may include two vacuum cups.
  • Each rig 30a-30d is attached to a stationary portion of the mooring facility 10.
  • the hull couplers 29a-29d can be manoeuvred, by the rig 23a-23d attached to the mooring facility, to attach to the hull of a vessel 20 to secure an approaching vessel 20.
  • the mooring devices 23a-23d will be described in further detail later with respect of Figures 4 and 5.
  • Preferably four mooring devices 23a-23d are stationed along the mooring facility 10; two 23a, 23b for securing the vessel towards the bow and two 23c, 23d for securing the vessel towards the stern.
  • any suitable number of mooring devices could be utilised in the system.
  • Each mooring device 23a-23d comprises a distance sensor 27a-27d for sensing, at a plurality of instants, the distance of the vessel from the respective mooring device. In particular the distance to the vacuum cup is being measured.
  • a distance sensor 26a may be positioned on the gate 21 of the lock 10 to measure the distance from the gate 21 to the bow 20a of the vessel or stern of the vessel, which ever is closest.
  • a sensor 26b may also be placed at a location of the mooring facility to determine the distance from the lock 10 to the other end of the vessel such as stern 20b of the vessel or the bow of the vessel as the case may be.
  • the sensors can measure the distance at multiple points in time, and therefore obtain a measure as to the change in distance due to movement of the vessel over time. From this, the position and/or change of position of the vessel can be determined for both the x and the y axis displacements. This can provide a Cartesian coordinate determination of at least one of the position and the speed and the velocity (speed and direction) of parts of the vessel relative to the mooring facility. This information is passed from the sensors 26a, 26b, 27a-27d to the controller system 28.
  • the controller sys_tem 28 can determine the velocity of the vessel in the x and y direction. It may do this by dividing the change in position along each axis by the change in time.
  • the sensors 26a, 26b, 27a-27d could be any suitable optical or sonic sensors for determining distance.
  • a velocity sensor could be used as well as, or instead of distance sensors.
  • Laser, Doppler, radar or other sensors could be used, for example.
  • the controller determines the position and/or the velocity of the vessel, it passes this information directly or - indirectly to an output device.
  • the information may pass the information to a PC 25 that uses the information to provide output to a user on a screen 31.
  • the information could be provided directly to an output device such as a screen (not shown) connected directly to the PLC 28.
  • Sensors could be used to not just measure the position and velocity of the vessel, but also of part or parts of the vessel.
  • FIG. 3 shows, in schematic form, the information that may be provided on the visual output device 31.
  • a graphical representation 32 of the vessel 20 and its positional relationship to the mooring facility 10 is displayed. This graphical representation is continually updated or animated, such that movement of the vessel 20 and its relative velocity will also be shown. Velocity of multiple parts of the vessel may also be displayed.
  • Information on change in velocity (eg acceleration of deceleration) of the vessel and/or part of parts of the vessel may be generated. This information may be displayed and/or otherwise used. The information may indicate to an operator at the mooring facility 10 and/or onboard or viewable from onboard the vessel, the position and/or velocity of the vessel 20 and/or part or parts of the vessel without having to view the vessel directly. This can assist the operator to operate the mooring system 11 in an appropriate manner for the velocity and position of the vessel.
  • a visual output device 31 might provide an indication of the vessel position in plan view (as coordinates or a distance from a datum) and/or the vessel velocity (in knots or other suitable parameters). This indicates at least to the o ⁇ erator(s), information that enables them to make decisions in relation to the operation of the mooring system 11.
  • the device might give an audible or visual warning if the approaching vessel's velocity exceeds a threshold. For example, if the velocity exceeds 5 knots, a warning will be issued to the operator indicating that the mooring system should not be operated to secure the vessel, as the vessel's velocity may damage the system.
  • Figures 4 and 5 show the mooring devices of one possible embodiment in further detail.
  • Each mooring device 23a-23d comprises a rig that supports one or more hull couplers as described previously.
  • a side elevation of a single mooring device, e.g. 23a, is shown in Figure 4.
  • Two mooring devices are shown in Figure 5. In this case, they could be the bow mooring devices 23a, 23b.
  • Each device is operable to enable the respective hull couplers to move: a) towards and away from the approaching vessel in the y direction (arrow A), b) up and down relative to the water in the z direction (arrow B), and also c) side-to-side longitudinally along the mooring facility in the x direction (arrow C). Movement in these directions may occur simultaneously or not.
  • Each rig of a mooring device comprises a frame e.g. 40a, 40b with two sets of two struts ⁇ respectively, e.g. 42a-42d and 43a-43d, one set positioned either side of the frame 40a, 40b.
  • the first strut 42a-42d is hydraulically controlled and can pivotally adjust the second strut 43a- 43d to adjust the position of the hull coupler in both the z and y directions.
  • a hull coupler is pivotally attached to each second strut, meaning in the preferred embodiment there are two hull couplers for each mooring device.
  • the term hull coupler can refer to each coupler alone, or each pair of couplers e.g. 27a.
  • each frame 40a, 40b is slidingly coupled to a respective set of rails 41a, 41b, and 41c, 41 d that enables the entire frame 40a, 40b, including the hull couplers, to slide up and down in a vertical (z) direction (arrow B).
  • the combined actions of the struts 42a-42d, 43a-43d together the rails 41a-41d enables controlled movement of each hull coupler in the z and y direction by its respective rig.
  • each mooring device the respective frame 40a, 40b and the vertical rails 41 a- 41 d are placed on horizontal rails 44a, 44b that run along the extent (or at least partially thereof) the mooring facility 10 in the x direction. This allows movement of the hull couplers in the x direction.
  • several mooring devices 23a, 23b might share the same rail. Alternatively, they can have separate rails. Therefore, the rig can be considered to comprise a separate or shared rail.
  • the action of the struts and the rails enable movement of the hull coupling in any of the x, y, z directions.
  • This can be through passive movement under the influence of vessel movement, or by active control. That is, through hydraulics and control by the controller, the rigs can be operated to move the struts and/or frame on the rails to position the hull couplers in any required position.
  • the hull couplers can move in any of the xyz directions in response to movement of a vessel attached to the hull couplers.
  • the position and/or velocity of the hull couplers can be controlled prior to attachment to the vessel hull in order to move them into an appropriate position (at an appropriate velocity) for coupling to the hull based on the position and/or velocity of the approaching vessel.
  • a possible method of operation of the system is described in relation to Figure 6.
  • the sensors 26a, 26b, 27a-27d will detect the vessel and take distance and/or velocity measurements via the sensors, step 60. This information is obtained continually or periodically throughout the mooring process.
  • the position of the vessel is sensed then passed to the controller system 28, which determines the position and the velocity of the vessel in the x and y directions, step 61.
  • the controller then processes this information for direct display, step 62, or communication in another fashion to an operator, such as described in relation to Figure 3.
  • the information can be passed to a computer or computer system 25 for presentation to a user.
  • One of a number of actions or operations can take place automatically, by the controller and/or by the operator, (eg at step 63) dependent on the position and/or velocity of the incoming vessel. These may be carried out until mooring is complete, step 64.
  • These operations are as follows.
  • the controller system 28 can control the rig of each mooring device to manipulate each hull coupler in a suitable manner for attachment to the vessel. For example, this might be by way of placing the hull coupler in a suitable position for coupling to a suitable position on the hull when the vessel reaches the desired mooring point.
  • the hull coupler tracks or at least partially tracks the movement/velocity of the hull. This can be determined by the velocity of the hull. If the x, y and z directions of the hull couplers are moved to approximately track the velocity in the x, y and z directions of the hull as it approaches, this reduces die forces exerted by the hull .onto the hull couplers and mooring devices as " a whole when attachment actually takes place.
  • Algorithms can operate the rigs to track the hull couplers in die desired manner based on die sensed velocity and position of die hull as it approaches.
  • the controller may decide not to operate the facility to moor the vessel if the velocity of the vessel or die location of the vessel at here the mooring device is to attach is too high (above the threshold).
  • an operator may manually operate a mooring devices to assist the coupling process.
  • the operator can view the position and velocity of the approaching vessel on the display, and from that information operate the velocity and position of the rigs (and therefore the hull couplers) in the required x, y and z direction to effect coupling to secure the vessel in an effective and safe manner.
  • the operator may opt not to operate the mooring system and not secure the vessel, if it appears dangerous to do so. For example, the position of die vessel might not be correct or the velocity of the vessel might be too high. If an audible or visual warning signal is displayed to indicate that the vessel or part of the vessel is approaching a mooring device too quickly, dien die operator may opt not to couple die vessel to the mooring facility. Alternatively, the controller may override manual operation to prevent this.
  • sensors on all die mooring devices and the berdi or gates. There could simply just be one or two sensors positioned appropriately either on the mooring facility and/or one or more of the mooring devices in order to obtain die appropriate distance information, from which position and ultimately velocity of the vessel can be determined. Having sensors on the mooring facility and on all the mooring devices is preferable, as this provides distance information relative to the mooring facility and also the moving mooring devices. Instead of distance or position sensors, sensors could be velocity sensors that directly measure the velocity of the vessel relative to the mooring facility and/or the mooring devices. Or measure or allow the derivation of a change in velocity.
  • the system may also facilitate the prepositioning of a hull coupler prior to engagement to the vessel. This can allow for the rig to be moved into a position to allow for hull coupler to move after it is attached. As the rig has limits to its range of movement in the x, y and z directions, it is desirable to have the rig in a position to that once attached, the hull coupler can continue to move with the vessel in the direction the vessel is traveling in upon engagement. So if there vessel has a component of velocity in a forwards direction when alongside the mooring facility, the rig may be positioned at its limit of movement in the X direction towards the stern of the vessel. The rig can then travel to let the hull coupler move in the x direction away from that limit towards the other x- direction limit more proximate to the bow of the vessel.
  • FIG. 4 One possible mooring device is shown in Figures 4 and 5. Any other suitable mooring device that enables movement of the hull couplers in x, y and/or z directions could be used. That movement could be provided by moving mechanisms such as struts, or rails placed in the x, y or z direction or some combination of both. The provision of rails to allow movement in the x, y and z direction allows for greater movement than that from the struts.
  • the present invention may utilise a mooring device that may be of a kind described in PCT International Application No. PCT/NZ02/00062.
  • the description of the mooring device(s) in PCT/NZ02/00062 is hereby incorporated by reference

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

La présente invention porte sur un système d'amarrage pour attacher un bateau à une installation d'amarrage. L'invention peut inclure au moins un dispositif d'amarrage destiné à être placé au niveau d'une installation d'amarrage dans une position pour permettre au dispositif d'amarrage d'aider à maintenir un bateau par rapport à l'installation d'amarrage. Chaque dispositif inclut un gréement et un coupleur de coque, supporté de façon mobile par rapport à l'installation d'amarrage par ledit gréement. L'invention inclut également au moins un capteur de position et/ou de vitesse, pour détecter la position et/ou la vitesse d'un bateau proche et/ou d'une partie du bateau qui est ou doit être maintenue par le dispositif d'amarrage par rapport à l'installation d'amarrage. Un contrôleur peut au moins commander le ou les dispositifs d'amarrage sur la base d'informations reçues ou provenant du détecteur.
PCT/NZ2008/000251 2007-09-26 2008-09-25 Système d'amarrage et commande Ceased WO2009041834A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/732,131 US8408153B2 (en) 2007-09-26 2010-03-25 Automated mooring method and mooring system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NZ56199507 2007-09-26
NZ561995 2007-09-26

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/NZ2008/000281 Continuation-In-Part WO2009054739A1 (fr) 2007-09-26 2008-10-24 Système automatisé d'accostage et d'amarrage

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/732,131 Continuation-In-Part US8408153B2 (en) 2007-09-26 2010-03-25 Automated mooring method and mooring system

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WO2009041834A1 WO2009041834A1 (fr) 2009-04-02
WO2009041834A9 true WO2009041834A9 (fr) 2009-07-09

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NZ520450A (en) 2002-07-30 2004-12-24 Mooring Systems Ltd Method of controlling a mooring system
NZ564009A (en) * 2007-12-04 2010-07-30 Cavotec Msl Holdings Ltd Mooring robot array control system and method therefore
WO2015143490A1 (fr) * 2014-03-25 2015-10-01 Trelleborg Marine Systems Melbourne Pty Ltd Ensemble de plate-forme de chargement
NO343522B1 (en) 2016-08-19 2019-04-01 Connect Lng As Universal Transfer System

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3707717A (en) * 1971-06-25 1972-12-26 Gen Signal Corp Boat berthing monitor incorporating sonar and doppler radar techniques
WO2001051345A1 (fr) * 2000-01-07 2001-07-19 Fmc Corporation Systeme d'ancrage a systeme de force de reaction actif et a amortissement passif
GB2388356B (en) * 2000-12-01 2004-01-28 Billy-Jay Smart Vessel navigation and docking system and method
NZ520450A (en) * 2002-07-30 2004-12-24 Mooring Systems Ltd Method of controlling a mooring system

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