Vessel and method with semi-automatic or automatic mooring system

Abstract

The invention relates to a vessel (3) with a semi-automatic or automatic vessel mooring system and a method for mooring with such a system. The vessel comprises a hull (22), a mooring line winch unit (7), at least one mooring line extending from the winch unit (7) and a weight (14) at the end of the at least one mooring line. A mooring line guide arm (5) with at least one mooring line guide on a mooring line guide section (26) is movable between a retracted position in line with the hull (22) and an extended position. In the extended position the mooring line guide arm (5) allows the winch unit (7) to lower the weight (14) at the end of the mooring line extending through the mooring line guide and onto a quay (1).

Description

[0001] This application is a divisional application of the application with the application number 2019800089213, the application date 18 January 2019, and the application title “Vessel and method with semi-automatic or automatic mooring system”. TECHNICAL FIELD

[0002] The invention relates to a vessel with a semi-automatic vessel mooring system or an automatic vessel mooring system and a method for docking with such a system. The vessel of the invention is typically an autonomous vessel, but the invention can also be a manned vessel. The docking of an autonomous vessel is preferably performed without any personnel on board the vessel. The invention solves this problem by providing a system that automatically presents mooring lines on the quay without any special equipment or adapters of the quay being required. However, the quay should include crew to attach the mooring lines to mooring bitts or other suitable attachment structures. The system comprises on-board mooring line winches that can release, tighten and hold the mooring lines in place, either individually or in combination with line fixing units. For a fully automatic system, the quay must include a system for automatic attachment of the mooring lines. BACKGROUND

[0003] Prior art solutions include solutions with various types of arms or booms for holding the vessel to the quay. These arms are typically manually operated. However, most of these solutions require the quay to be adapted to the vessel in various ways. Other types include arms that form part of the mooring after the mooring is completed. SUMMARY

[0004] In the invention, the arms are automatically operated and the arms do not form part of the mooring after the mooring is completed. Furthermore, manual operation or intervention can be performed on the solution from the quay. The purpose of the invention is to provide at least a semi-automatic system that can be used on a quay that is not specifically adapted for the mooring system.

[0005] The system of the invention does not require any specifically adapted control system on the quay and does not require any manual operation on the unmanned vessel.

[0006] The system can be kept completely away from the top deck area of the vessel, thus leaving the area for other purposes.

[0007] The system can be used in connection with more than one mooring line, enabling the system to be used for breast lines, spring lines, bow lines, stern lines, etc.

[0008] The system further comprises a control unit, which is typically attached to the weight that is used as part of the system.

[0009] The present invention relates to a vessel having a semi-automatic or automatic vessel mooring system. The vessel comprises a hull, a mooring line winch unit and at least one mooring line extending from the winch unit. A weight is fixed to an end of the at least one mooring line. A mooring line guide arm having at least one mooring line guide on a mooring line guide section is movable between a retracted position in alignment with the hull and an extended position above a quay. The mooring line guide arm in the extended position allows the winch unit to lower the weight at the end of the at least one mooring line extending through the at least one mooring line guide and onto the quay.

[0010] The hull can comprise a hull opening and the at least one mooring line can extend through the hull opening.

[0011] The at least one mooring line can comprise a messenger line and a main mooring line attached to the messenger line. The weight can be attached to an end of the messenger line.

[0012] The weight can comprise a shore side controller controlling at least the winch unit.

[0013] The winch unit can be located inside the hull.

[0014] The at least one weight can comprise a conical seat that is in line with a seat around a mooring line guide arm opening. When the hull comprises at least one hull opening, the weight can thus seal the hull opening when the at least one mooring line is in the retracted position, allowing for one / more openings to be located lower on the hull without the risk of water from waves or sea entering the one / more openings.

[0015] The weight can comprise a flat bottom surface.

[0016] The mooring line guide arm can be pivotally supported in the hull and can comprise a mooring line guide arm actuator arranged to swing the mooring line guide arm between the retracted position in alignment with the hull and the extended position.

[0017] In an alternative embodiment, the mooring line guide arm of the semi-automatic or automatic vessel mooring system can comprise a telescopic element arranged to linearly displace the mooring line guide arm between a retracted position in alignment with the hull and an extended position.

[0018] The vessel can comprise an indicator light for each mooring line.

[0019] The vessel can be an autonomous vessel.

[0020] The vessel can comprise two semi-automatic or two automatic vessel mooring systems, each system comprising three mooring lines, each mooring line being controlled by a winch unit, wherein the winch unit comprises one mooring line drum for each mooring line.

[0021] The invention comprises a method of semi-automatically or automatically mooring a vessel having a semi-automatic or automatic vessel mooring system. The vessel comprises a hull, a mooring line winch unit, at least one mooring line extending from the winch unit, a weight at an end of the at least one mooring line, and a mooring line guide arm having at least one mooring line guide. The mooring line guide arm is movable between a retracted position in alignment with the hull and an extended position above the quay. The method comprises the step of navigating the vessel towards the quay. Then, the mooring line guide arm is moved from the retracted position in alignment with the hull to the extended position above the quay. The winch unit is actuated to lower the weight onto the quay. The mooring line guide arm is moved from the extended position above the quay to the retracted position in alignment with the hull. The mooring line is pulled out to a mooring line attachment portion of the mooring line, the mooring line attachment portion is attached to a mooring line attachment element on the quay, and the winch unit is operated to adjust the mooring line tightness.

[0022] In case the vessel mooring system comprises further mooring lines, the method comprises the step of repeatedly pulling out the further mooring lines to a further mooring line attachment portion of the further mooring lines. The further mooring line attachment portions are attached to further mooring line attachment elements on the quay, and the winch unit is operated to adjust the tightness of the further mooring lines.

[0023] The step of operating the winch unit to adjust the mooring line tightness comprises operating a shore-based controller attached to the at least one weight.

[0024] The on-board mooring line winch or winches need not be a traditional drum winch, but can be a capstan winch, which can also be used in combination with more than one mooring line. The winch unit can also comprise a grip and release type wire winch, which can be used for more than one mooring line. BRIEF DESCRIPTION OF DRAWINGS

[0025] BRIEF DESCRIPTION OF DRAWINGS:

[0026] Figure 1 A part of a vessel with the mooring system of the invention in a first configuration is shown;

[0027] Figure 2 A part of a vessel with the mooring system of the invention in a second configuration is shown;

[0028] Figure 3 A part of a vessel with the mooring system of the invention in a third configuration is shown;

[0029] Figure 4 A part of a vessel with the mooring system of the invention in a fourth configuration is shown;

[0030] Figure 5 A part of a vessel with the mooring system of the invention in a fifth configuration is shown;

[0031] Figure 6 is a schematic view from above of a first embodiment of the invention;

[0032] Figure 7 is a schematic view from above of a second embodiment of the invention;

[0033] Figure 8 is a schematic view from the side of a third embodiment of the invention, showing a mooring line guide arm mounted in the side of the hull;

[0034] Figures 9A-9F is a schematic view of the sequence of docking using the invention;

[0035] Figures 10A-10E is a schematic view of the sequence of casting off using the invention; and

[0036] Figures 11A-11C is a semi-automatic or automatic vessel mooring system of an alternative embodiment of the invention. DETAILED DESCRIPTION

[0037] Figures 1-5A sequence for docking an autonomous vessel without the need for boarding is shown.

[0038] In Figure 1 , the vessel 3 is placed alongside the quay 1. Mooring bitts 2 are fixed to the quay 1. The vessel 3 comprises a mooring lead arm support 5 provided by a swing arm, which is pivotally supported at a pivot point 10 at the side of the hull of the vessel 3. Three weights 14 with flat bottom surfaces 4 are seated in and sealed against a conical seating surface in the mooring lead arm support 5 to prevent sea waves from entering the hull. The flat bottom 4 of the weights 14 and the mooring lead arm support 5 can be flush mounted in the hull to provide a smooth hull side.

[0039] The mooring lead arm support 5 comprises a mooring lead section 26, which in Figures 1-6 and Figures 8-10E embodiments is constituted by an outer portion of the mooring lead arm support 5, with a mooring lead arm opening.

[0040] A winch inside the vessel keeps the weights 14 in this seated position.

[0041] The sequence comprises:

[0042] 1. Figure 1 , transport position, system not active, weights substantially flush with mooring lead arm and mooring lead arm placed substantially horizontally against the hull. The mooring lead arm can be seated in a recess of the hull.

[0043] 2. Figure 2 , step 1 of the mooring process:

[0044] The mooring lead arm is swung out and at an angle to the hull, typically perpendicular to the hull, and extends substantially horizontally out from the hull. Three leads forming the first part of the three mooring lines are paid out to allow the extension of the mooring lead arm.

[0045] 3. Figure 3 , step 2 of the mooring process:

[0046] The mooring lines are further paid out to lower the weights onto the quay while the mooring lead arm is in the extended position.

[0047] 4. Figure 4 , step 3 of the mooring process:

[0048] The mooring lead arm is swung back into Figure 1 position while the weights remain on the quay.

[0049] The mooring line guide boom is retracted to the rest position while the mooring line extends through the mooring line guide boom, and the mooring line extends through the mooring line guide boom all the way.

[0050] 5. Figure 5 Step 4 of the mooring process:

[0051] One of the lead lines is pulled to pull out one of the main mooring lines and secure it to the pier. The winch system inside the hull is operated by the shore-based controller to tighten the main mooring line. Little load is transferred from the mooring line to the mooring line guide boom.

[0052] 6. Figure 5 Step 5 of the mooring process:

[0053] Step 4 is repeated for the remaining mooring lines as needed.

[0054] Figure 2 Corresponding to Figure 1 , except that the mooring line guide boom 5 is shown in a position swung out from the hull. The hull recess 19 is located at the side of the hull to accommodate the mooring line guide boom 5, allowing the entire mooring line guide boom 5, including the mooring line guide section 26, to be flush with the hull when the mooring line guide boom 5 is in the retracted position. The mooring line guide boom 5 is shown in the extended position swung out, pivoting about the pivot point 10 at the inner end of the mooring line guide boom 5. The length of the mooring line guide boom must be sufficient to extend safely from the side of the hull to a position above the pier 1. The lead line 8 holds the weight 14 seated in the mooring line guide boom opening. The lead line 8 extends through the hull opening 11 (hawse pipe) and is connected to one or several winches inside the hull. Thus, the mooring line guide boom can be relatively short as long as the navigation of the vessel is good. A distance of two to three meters or less to the innermost weight should be sufficient. The lead line 8, as an extension of the main mooring line, is wound onto the winch and can be slightly elastic, holding the weight 14 seated in the mooring line guide boom opening tightly. The mooring line guide section 26 includes a camera 29 that can send real time live images to a controller / port manager / remotely located control room, or can provide information to a computer with pattern matching software.

[0055] Figure 3 Corresponding to Figure 2, except that a weight 14 is shown resting on the quay 1. The leadline 8 has been released by a winch inside the hull and is pulled through the mooring lead guide arm opening 12 / anchor chain hole by the weight 14. The mooring lead guide arm opening is a circular or oval opening with a diameter adapted to allow the widest part of the mooring wire to extend through the opening. The widest part of the mooring line is usually the attachment part with the mooring eye 16 (shown in Figure 5

[0056] The illustrated embodiment includes three mooring line openings in the hull and in the mooring lead guide arm, forming a chock / anchor chain hole for the mooring line.

[0057] Alternatively, the mooring lead guide arm opening can be sized to allow access to roller chocks inside the hull. Roller chocks can also replace the anchor chain hole in the mooring lead guide arm.

[0058] Figure 4 Corresponding to Figure 3 , except that the mooring lead guide arm 5 is shown in the retracted position in the hull recess. The mooring lead guide arm opening 12 is aligned with the hull opening, allowing the leadline 8 to extend from the winch, through the hull and onto the weight 14 on the quay 1. In this position, pulling on the leadline 8 will not exert any load on the mooring lead guide arm 5. The weight 14 includes a conical seat surface 15 for seating on the opening seat around the mooring lead guide arm opening 12.

[0059] A shore controller 18 is located on one of the weights to control the winch. Communication between the shore controller, the winch and the mooring lead guide arm actuator can run along the leadline or can be wireless. Figure 5 Corresponding to Figure 4 ​, except that the main mooring line 9 is shown with a main mooring line attachment portion formed by a main mooring line eye 16 attached to the bollard 2. The remaining two pilot lines 8 can be used to extend additional main mooring lines for e.g. cross lines, spring lines, bow lines, stern lines etc. The mooring line guide arm opening is surrounded by an opening seat 13 having a shape complementary to the shape of the conical seat surface 15 of the weight.

[0060] Figure 6 is a schematic drawing of the outwards swinging autonomous vessel mooring system of the invention. The mooring line guide arm 5 comprises an opening with an opening seat 13 for a weight 14 with a flat bottom 4. The opening is aligned with a hull opening 11 in the hull 22. An actuator 6 actuates the mooring line guide arm 5 with mooring line guide section between an extended position and a position in line with the hull 22 (as shown). The actuator 6 can be an active bi-directional (in / out) controlled actuator such as a hydraulic cylinder, an electromechanical actuator etc. or a passive spring element. When the actuator is a passive spring element, a winch unit can be used to extend or retract the mooring line guide arm 5. The spring element can comprise a mechanical spring, a hydraulic cylinder and hydraulic accumulator, gassprings etc. The pilot line 8 is joined with the main mooring line (not shown) and extends through a line fixation unit 20 enabling the line 8 to be fixed or released to the winch unit 7. A line stop detector 21 provides a signal indicating that the winch should stop when the line is fully retracted and the weight is seated in the opening seat 13. If the winch unit 7 is able to hold the line under load, the line fixation unit 20 can be omitted. The weights 14 seal the hull opening 11 when they are in their retracted position as shown.

[0061] Figure 7 An alternative embodiment with linearly extending arms 23 for linearly moving the mooring line guide arm 5 and mooring line guide section 26 inwards or outwards is shown. In this embodiment, the "mooring line guide arm" does not swing or pivot. "Linearly extending arms" is intended to cover elements allowing the mooring line guide section 26 to be linearly displaced from a position in line with the hull at the outside of the hull or in a recess in the hull and to a displaced position above the quay. The remaining elements correspond to the elements in Figure 6 .

[0062] Figure 8An embodiment is shown in which the mooring guide arm 5 is divided into three separate mooring guide arm sections 12a, 12b and 12c, each with an anchor chain hole. The three mooring guide arm sections can be independently actuated by actuators to facilitate mooring with more than one mooring line. The separate mooring guide arm sections 12a, 12b and 12c have a common pivot point and the innermost and shortest mooring guide arm 12c is located in a cut-out 24 in the second innermost and intermediate mooring guide arm 12b which is also located in a cut-out 24 in the outermost and longest mooring guide arm 12a. The mooring guide arms 12 are located in recesses 19 in the hull 22.

[0063] Figures 9A-9F The sequence during docking is shown. (The same reference numbers apply to all Figures 9A-9F .

[0064] In Figure 9A , the vessel 3 is navigated towards the quay 1. The semi-automatic or automatic vessel mooring system of the invention is inactive. See also Figure 1 .

[0065] In Figure 9B , the mooring guide arms 5 are extended by the mooring guide arm actuators 6 and the operation of the winch units 7 is coordinated with the operation of the mooring guide arm actuators 6 to enable the weights 14 to be held in their respective positions seated in the mooring guide arms 5 while the mooring guide arms 5 are extended. See also Figure 2 .

[0066] In Figure 9C , the left winch unit 7 is operated and the left weight 14 is lowered onto the quay.

[0067] In Figure 9D , the right winch unit 7 is operated and the right weight 14 is lowered onto the quay.

[0068] In Figure 9E , the mooring guide arms 5 are retracted by the mooring guide arm actuators 6 and the operation of the intermediate winch unit 7 is coordinated with the operation of the mooring guide arm actuators 6 to enable the mooring guide arms 5 to be retracted while the intermediate weights 14 are held in their respective positions seated in the mooring guide arms 5.

[0069] In Figure 9F , the quayman 25 has pulled the left lead line 8 and the left main mooring line 9 is pulled out, the left main mooring line eye 16 is about to be attached to the left bollard 2. See also Figure 5 , the left mooring line eye 16 attached to the bollard 2 is shown.

[0070] Figures 10A-10E The sequence during laying off is shown. (The same reference numbers apply to all Figures 10A-10E ).

[0071] In Figure 10A , the two main mooring lines 9 are fixed to the two bollards 2 and the vessel 3 is moored. The dock workers 25 control the shore controllers 18 on the weights 14 at the ends of the lead lines 8.

[0072] In Figure 10B , the dock workers 25 have released the tension in the right main mooring line and have lifted the main mooring line eye 16 off the bollard 2, thereby releasing the right main mooring line.

[0073] In Figure 10C , the dock workers 25 have operated the right winch unit 7 with the shore controllers 18 and pulled the main mooring line into the vessel 3.

[0074] In Figure 10D , the dock workers 25 are operating the left winch unit 7 with the shore controllers 18 on the weights 14 at the ends of the lead lines 8 and releasing the tension in the left main mooring line 9.

[0075] In Figure 10E , the dock workers 25 have released the tension in the left main mooring line and have lifted the main mooring line eye 16 off the bollard 2, thereby releasing the left main mooring line.

[0076] The shore controllers 18 can include a function to automatically run all winches to their parking position in case the weights 14 are in their respective resting positions in the retracted mooring line guide arms 5.

[0077] Figures 11A-11C An extension of the mooring line guide arm 5 with a mooring line guide section 26 of an alternative embodiment of the invention is shown. In this embodiment, the semi-automatic or automatic vessel mooring system of the invention comprises a single telescopic element 17 and a mooring line guide section 26 at the outer end of the single telescopic element 17, which mooring line guide section 26 forms part of the mooring line guide arm 5. The telescopic element and the mooring line guide section 26 at the end of the telescopic element form a T. The mooring line guide arm opening or guide 12 is shown carrying the main mooring line 9 pushed forward by the single telescopic element 17. This is to emphasize that in some cases the lead line can be omitted. The single telescopic element can comprise a passive or active linear actuator to move the mooring line guide section 26 in Figure 11A the retracted position shown in Figure 11BThe mooring lead arm is moved between the partially extended position shown in 10B and the fully extended position shown in 1 1 C. The passive actuator can include a spring element that biases the mooring lead arm 5 and mooring lead section 26 toward the extended position. The winch unit 7 can then be used to extend or retract the mooring lead arm 5. The spring element can include a mechanical spring, a hydraulic cylinder and hydraulic accumulator, a gas spring, etc. The recess 19 in the hull can have a shape that conforms to the shape of the mooring lead section 26, allowing the mooring lead section to fit flush in the hull when the mooring arm is retracted. The winch unit 7 can include one winch drum 28 for each mooring line and lead line. The winch drums 28 can be individually operable. The arm opening or guide 12 can include passive or driven rollers to facilitate unwinding of the main mooring line 9. In this embodiment, the weight is secured directly to the main mooring line.

[0078] The shore-based controller can control one or all of the winches. Alternatively, one shore-based controller can be a multifunction or "smart" controller, and the other several shore-based controllers can be controllers with very basic functionality.

[0079] As an alternative, the system can be controlled via a remote control station. A camera that transmits live pictures can be in communication with the remote control station to monitor the operation. The camera can be located on the mooring lead arm or at another location that provides a view of the operation with the mooring system and in particular a view of the main mooring line and the bollard.

[0080] The captain at a remote location, such as in a control room, can predetermine which lines to deploy and the order in which the shore crew connects the mooring lines.

[0081] The system can automatically deploy the lead lines with the weights to the shore crew in a particular order, or can communicate with the shore-based controllers simultaneously, indicating which mooring line to operate first (can be a colored flashing indicator light to indicate the order).

[0082] The shore crew can use the shore-based controller to activate the winch units to loosen the lines. In this mode, one winch or multiple winches can include a tension sensor to identify that the shore crew is trying to pull out the mooring line, and the winch unit can assist in unwinding the mooring line.

[0083] The shore crew can signal to the shore-based controller that the mooring line is secured to the bollard and that the mooring line tension can be adjusted. The remotely located captain can predetermine the amount of tension. A computer control system can replace the remotely located captain.

[0084] The controller can also initiate a particular automatic sequence at docking, and sensors and detectors can provide signals to initiate the docking process.

[0085] The system can be deactivated upon docking.

[0086] Upon departure, when the boat is launched, the remotely located boat captain can reactivate the system to allow the release of the mooring lines and the weights to be hoisted into their seats.

[0087] The remotely located boat captain / controller can determine the mooring line release sequence, which is communicated to the shore crew via the de-tensioning sequence and communication from the shore controller. If a release sequence is required, a colored flashing indicator light on the weight or associated with each swing arm opening can indicate which mooring line will be released. The shore crew should not remove the de-tensioned line from the bollard prior to the signal being given. The shore crew removes the de-tensioned line from the bollard and then presses a button on the shore controller to indicate that the weight can be retracted. The weight can be retracted immediately or in a predetermined sequence. When all mooring lines have been successfully retracted, the system will receive an alert.

[0088] The system should indicate when a fault has occurred and provide an emergency signal to the remotely located boat captain. Faults can include the breaking of one or more mooring lines, higher than expected loads, winch failure, sensor failure, etc.

[0089] The vessel will typically include two of the present semi-automatic or automatic vessel mooring systems, one at the bow section and one at the stern. It can be sufficient to include the system at only one side of the vessel (typically the portside) as long as the vessel can come alongside at that side each time.

[0090] The mooring line attachment portion is shown as a mooring line eye. However, the present invention is intended to encompass other types of attachments that are well known in the art of attaching ropes and lines.

[0091] The system can be fully automated if the dock is equipped with an automatic attachment system for the mooring lines.

[0092]

[0093] The present application also relates to the following aspects:

[0094] 1). A vessel 3 having a semi-automatic or automatic vessel mooring system, the vessel 3 comprising:

[0095] a hull 22;

[0096] a mooring line winch unit 7;

[0097] at least one mooring line extending from the winch unit 7;

[0098] a weight 14 located at an end of the at least one mooring line;

[0099] a mooring line guide arm 5 having at least one mooring line guide, and a mooring line guide section 26 movable between an extended position and a retracted position aligned with the hull 22;

[0100] whereby the mooring line guide section 26 in the extended position allows the winch unit 7 to lower the weight 14 located at the end of the mooring line extending through the mooring line guide and onto the quay 1.

[0101] 2). The vessel of aspect 1), wherein the hull 22 comprises at least one hull opening 11, and wherein the at least one mooring line extends through the at least one hull opening 11.

[0102] 3). The vessel of aspect 1) or 2), wherein the at least one mooring line comprises a lead line 8 and a main mooring line 9 attached to the lead line 8, and wherein the weight 14 is attached to an end of the lead line 8.

[0103] 4). The vessel of any one of aspects 1) to 3), wherein the weight 14 comprises a shore-based controller 18 controlling at least the winch unit 7.

[0104] 5). The vessel of any one of aspects 1) to 4), wherein the winch unit 7 is located inside the hull 22.

[0105] 6). The vessel of any one of aspects 1) to 5), wherein the mooring line guide is provided by a mooring line guide arm opening 12 in the mooring line guide section 26.

[0106] 7). The vessel of any one of aspects 1) to 6), wherein the hull 22 comprises at least one hull opening 11, and wherein the at least one weight comprises a conical seat 15 coinciding with an opening seat 13 surrounding the mooring line guide arm opening 12 in the mooring line guide section 26, thereby sealing the hull opening 11 when the at least one mooring line is in the retracted position.

[0107] 8). The vessel of any one of aspects 1) to 7), wherein the at least one weight comprises a flat bottom surface 4.

[0108] 9). The vessel according to any one of aspects 1) to 8), wherein the mooring line guide arm 5 is pivotally supported in the hull and comprises a mooring line guide arm actuator 6 arranged to swing the mooring line guide arm 5 and the mooring line guide section 26 between the extended position and the retracted position aligned with the hull 22.

[0109] 10). The vessel according to any one of aspects 1) to 9), wherein the mooring line guide arm 5 of the semi-automatic or automatic vessel mooring system comprises a telescopic element 17 or a linear extension arm 23 arranged to linearly displace the mooring line guide section 26 between the extended position and the retracted position aligned with the hull 22.

[0110] 11). The vessel according to any one of aspects 1) to 10), further comprising an indicator light 27 for each mooring line.

[0111] 12). The vessel according to any one of aspects 1) to 11), wherein the vessel is an autonomous vessel.

[0112] 13). The vessel according to any one of aspects 1) to 12), comprising two or more semi-automatic or automatic vessel mooring systems, each semi-automatic or automatic vessel mooring system comprising two or three mooring lines, each mooring line being controlled by the winch unit 7, wherein the winch unit comprises one mooring line drum 28 for each mooring line.

[0113] 14). A method of semi-automatically or automatically mooring a vessel 3 having a semi-automatic or automatic vessel mooring system, the vessel 3 comprising:

[0114] a hull 22;

[0115] a mooring line winch unit 7;

[0116] at least one mooring line extending from the winch unit 7;

[0117] a weight 14 at an end of the at least one mooring line;

[0118] a mooring line guide arm 5 having at least one mooring line guide on a mooring line guide section 26, the mooring line guide arm 5 being movable between an extended position and a retracted position aligned with the hull 22;

[0119] the method comprising the steps of:

[0120] navigating the vessel 3 in towards the quay 1 ;

[0121] moving the mooring line guide section 26 from a retracted position in close proximity to the hull 22 to an extended position above the quay 1 ;

[0122] actuating the winch unit 7 to lower the weight 14 onto the quay 1 ;

[0123] moving the mooring line guide section 26 from the extended position above the quay 1 to the retracted position in close proximity to the hull 22;

[0124] pulling out the mooring line to give a mooring line attachment portion of the mooring line;

[0125] attaching the mooring line attachment portion to a mooring line attachment element on the quay; and

[0126] operating the winch unit to adjust a degree of mooring line tightness.

[0127] 15). The method of aspect 14) wherein the vessel mooring system comprises a further mooring line, the method further comprising repeating the steps of:

[0128] pulling out the further mooring line to give a further mooring line attachment portion of the further mooring line;

[0129] attaching the further mooring line attachment portion to a further mooring line attachment element on the quay; and

[0130] operating the winch unit to adjust a degree of tightness of the further mooring line.

[0131] 16). The method of aspect 14) wherein the step of operating the winch unit to adjust a degree of mooring line tightness comprises operating a shore-based controller 18 attached to the at least one weight 14.

Claims

1. A vessel (3) having a semi-automatic or automatic vessel mooring system, the vessel (3) comprising a hull (22); a mooring line winch unit (7); at least one mooring line extending from the winch unit (7); a weight (14) located at an end of the at least one mooring line; a mooring line guide boom (5) having at least one mooring line guide constituted by at least one mooring line guide boom opening (12) in a mooring line guide section (26) movable between an extended position and a retracted position aligned with the hull (22); wherein the hull (22) comprises at least one hull opening (11) and wherein the at least one mooring line extends through the at least one hull opening (11); wherein the mooring line guide boom (5) comprises a telescopic element (17) or a linear extension arm (23) arranged to linearly displace the mooring line guide section (26) between the retracted position aligned with the hull (22) and the extended position; wherein the mooring line guide is aligned with the at least one hull opening (11) when the mooring line guide section (26) is in the retracted position aligned with the hull (22), whereby the mooring line guide section (26) in the extended position allows the winch unit (7) to lower and lower the weight (14) located at the end of the mooring line extending through the mooring line guide onto a quay (1).

2. The vessel according to claim 1, wherein the at least one mooring line comprises a lead line (8) and a main mooring line (9) attached to the lead line (8) and wherein the weight (14) is attached to an end of the lead line (8).

3. The vessel according to claim 1, wherein the weight (14) comprises a shore side controller (18) controlling at least the winch unit (7).

4. The vessel according to claim 1, wherein the winch unit (7) is located inside the hull (22).

5. The vessel according to claim 1, wherein the at least one weight (14) comprises a conical seat (15) coinciding with an opening seat (13) around a mooring line guide boom opening (12) in the mooring line guide section (26) thereby sealing the hull opening (11) when the at least one mooring line is in a retracted position.

6. The vessel according to claim 1, wherein the at least one weight (14) comprises a flat bottom surface (4).

7. The vessel according to claim 1, wherein the vessel is an autonomous vessel. The winch unit (7) comprises one winch drum (28) for each mooring line and wherein the winch drums (28) are individually operable. ​ ​ ​ ​ ​ ​ ​ 8. The vessel of claim 1, wherein, ​ 9. The vessel according to any one of claims 1-8, wherein the mooring line guide section (26) is located at an outer end of the telescopic element (17).

10. The vessel according to claim 9, wherein the telescopic element (17) is a single telescopic element (17) and the mooring line guide section (26) at the end of the telescopic element (17) forms a T-section.

11. The vessel according to claim 9, wherein the telescopic element (17) comprises an active linear actuator to move the mooring line guide section (26) between a retracted position and a fully extended position.

12. The vessel according to claim 9, wherein the telescopic element (17) comprises a passive linear actuator to move the mooring line guide section (26) between a retracted position and a fully extended position.

13. The vessel according to claim 12, wherein the passive linear actuator comprises a spring element that biases the mooring line guide arm (5) and the mooring line guide section (26) towards the extended position.

14. The vessel according to claim 13, wherein the spring element comprises at least one of a mechanical spring, a hydraulic cylinder and hydraulic accumulator, and a gas spring.

15. The vessel according to any one of claims 12-14, wherein the winch unit (7) is adapted to retract the mooring line guide arm (5).

16. The vessel according to any one of claims 1-8 and 10-14, wherein the recess (19) in the hull (22) has a shape that coincides with the shape of the mooring line guide section (26) to allow the mooring line guide section (26) to fit flush in the hull (22) when the mooring line guide arm (5) is retracted.

17. The vessel according to any one of claims 1-8 and 10-14, comprising two or more semi-automatic or automatic vessel mooring systems, each vessel mooring system comprising two or three mooring lines (9) each controlled by the winch unit (7), wherein the winch unit comprises one mooring line drum (28) for each mooring line (9).

18. A method of semi-automatic or automatic mooring of a vessel (3) having a semi-automatic or automatic vessel mooring system, the vessel (3) comprising: a hull (22); a mooring line winch unit (7); at least one mooring line extending from the winch unit (7); a weight (14) at an end of the at least one mooring line; a mooring line guide arm (5) having at least one mooring line guide on a mooring line guide section (26), the mooring line guide arm (5) being movable between an extended position and a retracted position in line with the hull (22); the method comprising the steps of: navigating the vessel (3) in towards a quay (1); moving the mooring line guide section (26) from a retracted position in proximity to the hull (22) to an extended position above the quay (1); actuating the winch unit (7) to lower the weight (14) onto the quay (1); moving the mooring line guide section (26) from the extended position above the quay (1) to the retracted position in proximity to the hull (22); pulling out the mooring line to obtain a mooring line attachment portion of the mooring line; attaching the mooring line attachment portion to a mooring line attachment element on the quay; and operating the winch unit to adjust mooring line tightness.

19. The method of claim 18, wherein the vessel mooring system comprises a plurality of mooring lines, the method further comprising repeating the steps of: pulling out each mooring line of the plurality of mooring lines to obtain a mooring line attachment portion of each mooring line; attaching the mooring line attachment portion of each mooring line to a further mooring line attachment element on the quay; and operating the winch unit to adjust tightness of each mooring line of the plurality of mooring lines.

20. The method of claim 18, wherein operating the winch unit to adjust mooring line tightness comprises operating a shore-based controller (18) attached to the at least one weight (14).

21. The method of claim 18, wherein the mooring line attachment element on the quay is a bollard (2) and the mooring line attachment portion of the mooring line is a mooring line eye (16).

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