Tethering system and tethering method

Abstract

A mooring system for mooring a floating structure to a mooring facility, with one of the floating structure and the mooring facility being a first object and the other being a second object, includes a mooring line, a winch disposed on the second object and capable of winding and paying out the mooring line, a locking member disposed on the second object and capable of locking and unlocking a tip end portion of the mooring line, at least one unmanned aerial vehicle having a holding member that holds the mooring line, and a control device that controls the unmanned aerial vehicle to cause the unmanned aerial vehicle to hang a middle portion of the mooring line between the tip end portion and a base portion that is paid out from the winch to a mooring post disposed on the first object while holding the mooring line.

Description

Technical Field

[0001] This invention relates to a mooring system and method for mooring floating structures such as ships to mooring facilities such as docks. Background Technology

[0002] Previously, mooring operations, connecting vessels to the dock via mooring lines, were carried out through the collaboration of land-side and ship-side workers. The traditional mooring process followed this sequence: First, the ship-side worker pulled the mooring line from the hawser-drum mounted on the vessel and threw a drop line, attached to the end of the mooring line, toward the dock. Next, the land-side worker pulled the drop line to draw the mooring line in, securing one end of the mooring line to a mooring bollard on the dock. Finally, tension was applied to the mooring line by winding it around the hawser-drum on the vessel's side, thus mooring the vessel to the dock.

[0003] To simplify the mooring operations described above, Patent Document 1 proposes using a drone (an aerial drone or an amphibious drone) to transport the end of the mooring cable connected to the first connector to the second connector. Here, it is disclosed that the first connector is located on the ship and the second connector is located at the dock, the first connector is located at the dock and the second connector is located on the ship, and both the first and second connectors are located on the ship.

[0004] Existing technical documents:

[0005] Patent documents:

[0006] Patent Document 1: International Publication No. WO2018 / 026285. Summary of the Invention

[0007] The problem the invention aims to solve:

[0008] The aforementioned patent document 1 describes a drone for transporting the tip of a mooring cable, indicating that the tip of the mooring cable can be fixed / unfixed to a second connector (e.g., a bollard), but does not disclose its specific form. While a drone can attach the tip of the mooring cable to the second connector, the drone's control requires a high degree of positional accuracy, making it impractical in terms of operational efficiency.

[0009] This disclosure was made in view of the above circumstances, and its purpose is to provide a mooring system for mooring and releasing floating bodies such as ships on mooring bollards provided at docks, etc., and to realize labor-saving mooring and releasing operations.

[0010] Solution methods:

[0011] According to one embodiment of the tethering system disclosed herein, the characteristic is that,

[0012] A mooring system is a system in which one of a floating structure and a mooring facility is designated as a first object and the other as a second object, and the floating structure is moored to the mooring facility, comprising:

[0013] mooring rope;

[0014] A winch, configured on the second object, capable of winding and pulling out the tethering cable;

[0015] A locking element disposed on the second object that can engage and disengage from the tip of the tethering cable;

[0016] At least one drone having a retaining element for holding the tethered cable; and

[0017] The control device for controlling the drone is as follows: while holding the tether, the drone moves from the second object toward the tether post disposed on the first object, and ties the middle portion of the tether between the tip of the tether and the base pulled out from the winch to the tether post.

[0018] Furthermore, according to one embodiment of the mooring method disclosed herein, the characteristic is that...

[0019] The method of mooring the floating structure to the mooring facility is a method in which one of the floating structure and the mooring facility is designated as the first object and the other as the second object. A winch capable of winding and pulling out the mooring cable and a locking device capable of engaging and disengaging the tip of the mooring cable are disposed on the second object.

[0020] This includes the following steps: maintaining the mooring line using at least one drone;

[0021] The drone is controlled as follows: while maintaining the tether cable, the drone moves from the second object toward the tether post positioned on the first object, and the midway portion of the tether cable between the tip and the base pulled from the winch is attached to the tether post; and

[0022] Before or after the mooring rope is attached to the mooring post, the locking element engages with the tip of the mooring rope.

[0023] Invention effects:

[0024] According to this disclosure, a mooring system can be proposed for mooring and unmooring floating bodies such as ships on mooring bollards provided at docks, etc., and can realize labor-saving mooring and unmooring operations. Attached Figure Description

[0025] Figure 1This is a top view showing the state in which a floating structure is moored to a mooring facility by the mooring system of the first embodiment of this disclosure;

[0026] Figure 2 This is a schematic diagram of the tethering system;

[0027] Figure 3 This is a simplified structural diagram of a winch.

[0028] Figure 4 This is a diagram showing the general structure of the drone;

[0029] Figure 5A This is a diagram showing the shape of the retaining element;

[0030] Figure 5B This is a diagram showing the shape of the retaining element;

[0031] Figure 5C This is a diagram showing the shape of the retaining element;

[0032] Figure 6 This diagram shows the drone attaching its mooring cable to the mooring post;

[0033] Figure 7 This is a top view showing the state of the UAV being attached to the mooring post with a mooring cable in a modified example of the first embodiment's mooring system;

[0034] Figure 8 This is a diagram showing the state in which a floating structure is moored to a mooring facility by a mooring system according to the second embodiment of this disclosure;

[0035] Figure 9 This is a diagram showing an example of the winding direction of the mooring cable toward the mooring post;

[0036] Figure 10 This is a diagram showing an example of the winding direction of the mooring cable toward the mooring post;

[0037] Figure 11 This is a diagram showing the situation where the drone is attached to the mooring post with a mooring cable in a modified example of the second embodiment's mooring system;

[0038] Figure 12 This is a diagram showing the situation where a drone is attached to a mooring post with a mooring cable in the mooring system of the third embodiment of this disclosure. Detailed Implementation

[0039] [First Implementation Method]

[0040] Next, the first embodiment of this disclosure will be described with reference to the accompanying drawings. Figure 1 This is a top view showing the state in which the floating structure 10 is moored to the mooring facility 11 by the mooring system 1 of the first embodiment of this disclosure. Figure 1 In the example shown, mooring system 1 is located on floating structure 10, and mooring bollard 12 is located on mooring facility 11. However, mooring system 1 may also be located on mooring facility 11, and mooring bollard 12 may be located on floating structure 10. Alternatively, some elements of mooring system 1 may be located on floating structure 10, and the remaining elements may be located on mooring facility 11 or other structures (e.g., small vessels).

[0041] The floating structure 10 according to this embodiment is a boat-shaped floating structure 10 (i.e., a ship). However, the floating structure 10 is not limited to a ship, and can be a floating structure at sea such as an offshore platform (floating body production equipment, floating body storage equipment). Furthermore, the mooring facility 11 according to this embodiment is a harbor pier. However, the mooring facility 11 is not limited to a pier, and can be a ship independent of the floating structure 10, a mooring float, floating body production equipment, etc.

[0042] The floating structure 10 includes a hull 5, at least one fore-and-aft thruster 2 that outputs thrust in the fore-and-aft direction relative to the hull 5, and at least one transverse thruster 3 that outputs thrust in the lateral direction relative to the hull 5. Here, as... Figure 1 As shown, the horizontal direction connecting the bow and stern of hull 5 is defined as the "forward and backward direction" of hull 5, and the horizontal direction orthogonal to the forward and backward direction (left and right direction) is defined as the "lateral direction" of hull 5. The floating structure 10 can also be towed without a propulsion system.

[0043] At least one mooring system 1 is provided on the floating structure 10. Figure 1 In the example shown, mooring systems 1 are provided at four locations distributed in the forward and backward directions of the hull 5. However, the number of mooring systems 1 provided on the floating structure 10 is not limited to this embodiment.

[0044] [Structure of Tethering System 1]

[0045] Each tethering system 1 has essentially the same structure. Figure 2 This is a schematic diagram of the tethered system 1. (For example...) Figure 2 As shown, the mooring system 1 includes a mooring cable 20, a winch 30 for winding and pulling the mooring cable 20, a locking member 24, at least one unmanned aerial vehicle (hereinafter referred to as "UAV 6") for transporting the mooring cable 20, and a control device 60. The UAV 6 can be shared in multiple mooring systems 1. In this embodiment, the UAV 6 is disposed on the floating structure 10, but the UAV 6 can also be disposed on the mooring facility 11. Furthermore, in this embodiment, the control device 60 is disposed on the floating structure 10, but the control device 60 can also be disposed on the mooring facility 11, and can also be disposed on a small vessel independent of the floating structure 10.

[0046] Figure 3This is a schematic diagram of the structure of winch 30. Figure 3 The winch 30 shown includes: a rope drum 31 on which the mooring cable 20 is wound; a motor 32 that drives the rope drum 31 to rotate; a hydraulic clutch 33 that switches the connection and disconnection of power transmission from the motor 32 to the rope drum 31; a speed reducer 34 provided on the power transmission path from the motor 32 to the rope drum 31; and a hydraulically released brake 35 that always applies braking force. The winch 30 according to this embodiment is an electro-hydraulic type, but the structure of the winch 30 is not limited to the above, and the winch 30 may also be electrically powered.

[0047] When the mooring line 20 is wound onto the drum 31, the power transmission path from the motor 32 to the drum 31 is connected via the clutch 33, driving the drum 31 to rotate in the winding direction. When the mooring line 20 is pulled out of the drum 31, the clutch 33 is disengaged, cutting off the power transmission path from the motor 32 to the drum 31, allowing the drum 31 to idle and rotate in the pull-out direction. Alternatively, when the mooring line 20 is pulled out, the power transmission path from the motor 32 to the drum 31 is connected via the clutch 33, driving the drum 31 to rotate in the pull-out direction. The mooring line 20 pulled out of the drum 31 is protected and guided by appropriate mooring line guides 23, such as the chock (mooring hole), fairlead, deck end roller, and stand roller.

[0048] The mooring system 1 also includes a rotational position sensor 51, a tension sensor 26, a rope length meter 53, and a winch control device 50 that controls the operation of the winch 30 based on the detected values ​​of these sensors. The rotational position sensor 51 detects the rotational position and speed of the motor 32 or the rope drum 31. The rope length meter 53 measures the length of the mooring rope 20 pulled out from the rope drum 31. Based on the detection signal from the rotational position sensor 51 and / or the measured value from the rope length meter 53, the winch control device 50 measures the rotation of the motor 32 or the rope drum 31 and estimates the winding length and pull-out length of the mooring rope 20.

[0049] The locking element 24 engages and disengages from the tip of the mooring cable 20. The locking element 24 is provided on the floating structure 10. The locking element 24 is positioned at appropriate locations corresponding to the route of the mooring cable 20, such as on the deck, the side of the hull 5, and the support platform of the mooring system 1 rope drum 31.

[0050] The engagement and disengagement of the tether 20 relative to the locking member 24 can be performed by an operator. Alternatively, the engagement of the tether 20 with the locking member 24 can be performed by an operator, while the disengagement of the tether 20 from the locking member 24 can be automatic. That is, the locking member 24 can have an automatic release function for the tether 20. In this case, for example, the locking member 24 has an actuator for performing the disengagement action, configured such that the actuator receives a disengagement signal from an operator (not shown) and actuates, thereby disengaging the tether 20 from the locking member 24.

[0051] The locking member 24 is provided with a tension buffer 27. The tension buffer 27 includes, for example, a buffering member such as a spring. The tension buffer 27 absorbs unpredictable excessive tension when it is applied to the tether 20 locked to the locking member 24, preventing the tether 20 from being cut, or the locking member 24 or its damage to the structure on which the locking member 24 is fixed.

[0052] A tension sensor 26 is provided on the locking member 24. The tension sensor 26 is, for example, a load cell, which can estimate the tension of the mooring cable 20 based on the load detected by the load cell. The winch control device 50 controls the rotation of the rope drum 31 based on the detection value of the tension sensor 26, so that the tension acting on the mooring cable 20 is maintained at a predetermined value that does not exceed a predetermined upper limit value.

[0053] The drone 6 moves the mooring cable 20 from the floating structure 10 to the mooring post 12. The drone 6 can move between the floating structure 10 and the mooring facility 11, and can also operate on land, sea, or air. Examples of drones 6 include unmanned aerial vehicles called drones and amphibious drones called amphibious unmanned aerial vehicles (drones).

[0054] Figure 4 This is a diagram showing the schematic structure of UAV 6. (See diagram for example.) Figure 4 As shown, the drone 6 includes multiple rotors 61, a motor 62, a battery 63, sensors 64, a transmitter 65, a receiver 66, a camera 67, and a controller 68. The motor 62 rotates to drive the rotors 61. The battery 63 supplies power to the motor 62. However, an engine may be installed instead of the battery 63. The sensor class 64 includes detectors that detect at least one of the drone 6's flight angle, flight speed, and position information (GPS position information). However, the structure of the drone 6 is not limited to this embodiment, as long as it is configured to be remotely operated or to fly autonomously and / or swim (dive).

[0055] The drone 6 is controlled by a control device 60. The control device 60 is a control device for remotely operating the drone 6. The control device 60 can also be a device that enables the drone 6 to move autonomously (fly autonomously). The control device 60 includes an operating element 41, a display 42, a transmitter 43, a receiver 44, a processing unit 45, and a communicator 46.

[0056] The operating unit 41 is operated by the operator or controller, who inputs information and performs operations to the processor 45 via the operating unit 41. The operating unit 41 may be at least one of a keyboard, joystick, button, touch panel display, or joystick. The display 42 may be at least one of a smartphone or tablet display, a goggle-type display, or a head-mounted display. The transmitter 43 sends command signals to the drone 6. The receiver 44 receives image signals, location information, and information detected by the sensor type 64 from the drone 6. The communicator 46 uses a communication network or GPS communication device to transmit and receive information used in the tethering system 1, such as weather and sea conditions information and the location information of the tethering post 12. The processor 45 receives information or signals via the operating unit 41, receiver 44, and communicator 46, performs calculations, and outputs the results via the display 42 or transmitter 43. The processor 45 may also have a manual operation program that generates and sends command signals based on information input via the operating unit 41. Alternatively, the arithmetic unit 45 may also have an automatic control program that generates and sends command signals based on image information from the camera 67 mounted on the drone 6, so that the drone 6 can move autonomously (fly autonomously) on a set path.

[0057] The command signal transmitted from transmitter 43 by control device 60 is received by receiver 66 of UAV 6 and sent to controller 68. Controller 68 processes the command signal together with information obtained from sensor class 64 to control the rotational speed of rotor 61 driven by motor 62. Controller 68 also transmits image (or video) information captured by camera 67 to control device 60 via transmitter 65. In control device 60, the received image information is output to display 42. The operator can use the image information displayed on display 42 to operate UAV 6.

[0058] The drone 6 is provided with a retainer 69 for holding the tether 20. The middle portion of the tether 20 passes through the retainer 69. The middle portion of the tether 20 refers to the portion between the tip portion that is engaged with the locking member 24 and the portion wound around the rope drum 31. The retainer 69 has a loop-shaped portion through which the tether 20 can pass. The tether 20 is movably inserted into the retainer 69, and the retaining position of the retainer 69 on the tether 20 is variable. An example of such a retainer 69 is a loop shape (…). Figure 5A ), hook shape ( Figure 5B ) and open / closed claw shape ( Figure 5C ). 69 (opening and closing claw-shaped retainer) Figure 5C For example, it has two claws, each claw having an arc-shaped link 69a at its tip, two straight links 69b and 69c connected to the arc-shaped link 69a, a joint connecting adjacent links to each other, and an actuator (not shown) driving the joint, configured to open and close the two claws by joint rotation.

[0059] [Tethering method using tethering system 1]

[0060] Next, the mooring method using the mooring system 1 with the above structure will be explained. The mooring method is generally divided into (1) a preparation process, (2) a cable hanging process, and (3) a cable pulling process. The cable hanging process can be performed manually or automatically.

[0061] (1) Preparation process

[0062] The tip of the mooring line 20 engages with the locking member 24, pulling the mooring line 20 out from the rope drum 31 of the winch 30. Here, the mooring line 20 can be pre-pulled out to a sufficient length up to the mooring post 12, or it can be pulled out little by little as the drone 6 moves. The middle portion of the pulled-out mooring line 20 is held by the retaining member 69 of the drone 6. The drone 6 waits in the designated standby position of the floating structure 10.

[0063] (2) Cable hanging process (in the case of manual operation)

[0064] When the tethering process is performed manually, the operator remotely controls the drone 6 using the operating component 41 connected to the control device 60. The drone 6, controlled by the operator, departs from the standby position towards the tether post 12, attaches the tethering cable 20 to the tether post 12, and then returns to the standby position. The operator can visually confirm the image captured by the camera 67 mounted on the drone 6, or visually grasp the positional relationship between the drone 6 and the tether post 12, and then operate the drone 6.

[0065] (In cases where it is done automatically)

[0066] When the mooring process is automated, the operator inputs the location of the target mooring post 12 and the designation of the mooring system 1, which includes the mooring cable 20 attached to the mooring post 12, into the control device 60. The location of the target mooring post 12 can be obtained from map information. Alternatively, the mooring post 12 may be configured with a location information transmitter, from which the location information is transmitted to the control device 60 via a communication network. The location information transmitter can be a GPS transmitter that receives radio waves from GPS satellites, calculates the location information, and transmits it to the control device 60, or an IC tag that uses a communication network to acquire and transmit the location information to the control device 60. Alternatively, a light source may be provided on the mooring post 12, and a light sensor that detects the light from the light source may be used to determine the location information of the mooring post 12, which is then transmitted to the control device 60.

[0067] The operator inputs a command to begin attaching the mooring cable within the control device 60. Upon receiving this command, the control device 60 calculates the flight path of the drone 6. The flight path calculation utilizes weather and sea conditions information from the mooring facility 11, the drone 6's position information, and the mooring post 12's position information to calculate a flight path where the drone 6 departs from its standby position, heads towards the mooring post 12, attaches the mooring cable 20 to the mooring post 12, and then returns to the standby position. To mitigate the effects of wind, the drone 6's flight path is preferably close to the water surface. The control device 60 automatically controls the drone 6 by moving it along the calculated flight path. Here, the control device 60 can analyze images captured by the camera 67 mounted on the drone 6 to control the drone 6's movements.

[0068] In the mooring process (both manual and automatic), the drone 6 moves from its standby position toward the mooring post 12 while holding the mooring line 20 at its midpoint. To mitigate the effects of wind, the drone 6 preferably moves close to the water surface. A large loop for the mooring line 20 is formed on the mooring line 20 held at its midpoint by the drone 6. The mooring line 20 is approximately twice the length of the distance between the floating structure 10 and the mooring post 12. The drone 6's retainer 69 descends after passing the mooring post 12, thereby attaching the loop of the mooring line 20 to the mooring post 12 (see reference). Figure 6The mooring cable 20 being attached to the mooring post 12 can be determined by images captured by the camera 67 of the drone 6. If the mooring cable 20 is attached to the mooring post 12, the drone 6 will release the mooring cable 20 and return to the standby position of the floating structure 10. However, the drone 6 may also return to the standby position of the floating structure 10 along the mooring cable 20 without releasing it. In this way, even if the drone 6 becomes uncontrollable or malfunctions while returning to the standby position of the floating structure 10 along the mooring cable 20, the drone 6 can still be recovered, provided that the movement of the drone 6 is constrained by the mooring cable 20.

[0069] (3) Cable pulling process

[0070] With the mooring line 20 attached to the mooring post 12, the winch 30 operates to wind the mooring line 20 around the rope drum 31, thereby applying tension to the mooring line 20, and the floating structure 10 is secured to the mooring facility 11. Here, the mooring line 20 slides relative to the mooring post 12, but to reduce wear on the mooring post 12 and / or the mooring line 20, the portion of the mooring line 20 attached to the mooring post 12 can be formed by a rotating roller. For example... Figure 2 and Figure 6 In the example shown, the main body of the mooring post 12, to which at least the mooring cable 20 is attached, is composed of a pulley (or roller) that rotates around a vertical axis.

[0071] [Using the tethering release method of tethering system 1]

[0072] In the mooring system 1, the mooring of the floating structure 10 can be released. First, the mooring line 20 is pulled out from the rope drum 31, and the tension of the mooring line 20 is sufficiently reduced. Next, the mooring line 20 disengages from the locking member 24. Here, the disengagement of the mooring line 20 from the locking member 24 can be done manually or automatically. After the mooring line 20 is released from the locking member 24, the winch 30 operates to wind the mooring line 20 around the rope drum 31, and the mooring of the floating structure 10 is released.

[0073] 〔summary〕

[0074] As explained above, the mooring system 1 according to this embodiment is characterized in that it is a mooring system in which one of the floating structure 10 and the mooring facility 11 is a first object and the other is a second object, and the floating structure 10 is moored to the mooring facility 11, comprising:

[0075] Mooring rope 20;

[0076] A winch 30, configured on a second object, is capable of winding and pulling out the mooring cable 20;

[0077] A locking element 24 disposed on the second object, capable of locking the engagement and disengagement of the tip of the mooring cable 20;

[0078] At least one drone 6 having a retaining element 69 with a retaining cable 20; and

[0079] The control device 60 controls the drone 6 in the following manner: while holding the tether 20, the drone 6 moves from the second object toward the tether post 12 located on the first object, and the middle part between the tip of the tether 20 and the base pulled out from the winch 30 is attached to the tether post 12.

[0080] Similarly, the mooring method according to this embodiment is characterized by mooring the floating structure 10 to the mooring facility 11 by making one of the floating structure 10 and the mooring facility 11 a first object and the other a second object.

[0081] A winch 30 capable of winding and pulling out the mooring cable 20, and a locking member 24 capable of engaging and disengaging from the tip of the mooring cable 20, are disposed on the second object.

[0082] The steps include: maintaining the mooring line 20 using at least one drone 6;

[0083] Control the drone 6 so that, while holding the tether 20, the drone 6 moves from the second object toward the tether post 12 located on the first object, and ties the middle portion of the tether 20 between the tip and the base pulled out from the winch 30 to the tether post 12; and

[0084] Before the mooring cable 20 is attached to the mooring post 12, the locking member 24 locks into the tip of the mooring cable 20.

[0085] In the mooring system 1 and mooring method described above, the mooring cable 20 is attached to the mooring post 12 by a drone 6. Since the drone 6 attaches the middle portion of the mooring cable 20 to the mooring post 12, high positional accuracy is not required for its control. Therefore, even if the position of the drone 6 relative to the mooring post 12 is incorrect due to wind or measurement inaccuracies, the operation of attaching the mooring cable 20 to the mooring post 12 can be performed stably. Thus, no operator is needed to tie the mooring cable 20 to the mooring post 12, saving manpower. Especially in mooring operations, the number of operators directly contacting or approaching the mooring cable 20 can be reduced. Furthermore, for example, in the event of a fire, earthquake, or other disaster in an area with a dock where the mooring post 12 is located, even if it is difficult to deploy operators at the dock, the floating structure 10 can be moored to the dock, enabling early material transport along sea routes to the disaster area.

[0086] In the mooring system 1 described above, the retaining member 69 may hold the middle portion of the mooring cable 20 between the tip that engages with the locking member 24 and the base that is pulled out from the winch 30, and the control device 60 may control the drone 6 from the second object toward the mooring post 12 while the drone 6 holds the middle portion of the mooring cable 20. Similarly, in the mooring method described above, the drone 6 may be controlled from the second object toward the mooring post 12 while holding the middle portion of the mooring cable 20 between the tip that engages with the locking member 24 and the base that is pulled out from the winch 30. Here, the mooring cable 20 is attached to the mooring post 12 before the locking member 24 engages with the tip of the mooring cable 20.

[0087] Based on the mooring system 1 and mooring method described above, the UAV 6 only needs to attach a sufficiently large loop formed by the mooring post 12 and the mooring cable 20, which is approximately twice the length of the distance between the mooring post 12 and the second object, to the mooring post 12. Therefore, the control of the UAV 6 does not require high positional accuracy.

[0088] In the mooring system 1 and mooring method described above, when the mooring of the floating structure 10 is released, the tip of the mooring cable 20 is released from the locking member 24, and the mooring cable 20 is wound by the winch 30. Therefore, during the mooring release operation, there is no need for a worker on the mooring post 12 side to perform the operation of releasing the mooring cable 20 from the mooring post 12, thus saving manpower. For example, if the floating structure 10 is moored to the mooring post 12 at a dock located in a disaster area, even if it is difficult to deploy workers at the dock, the mooring can be released in an emergency to allow the floating structure 10 to leave the shore. When the mooring of the floating structure 10 is released, the drone 6 can be pre-positioned to hold the tip of the mooring cable 20 and then release the tip of the mooring cable 20 from the locking member 24. The control device 60 controls the drone 6 to fly along the movement path of the tip of the mooring cable 20. Therefore, when releasing the mooring, the tip of the mooring rope 20 can be prevented from falling into the sea.

[0089] Furthermore, in the aforementioned mooring system 1 and mooring method, the mooring cable 20 is used in a double-rope configuration by folding back at the mooring post 12, so the tension applied to the mooring cable 20 can be approximately half that when used in a single-rope configuration. Therefore, it is possible to miniaturize the winch 30 that applies tension to the mooring cable 20. Moreover, a low-strength, thin, and lightweight mooring cable 20 can be used, making it suitable for transporting the UAV 6.

[0090] In the mooring system 1 described above, the position of the locking member 24 is not particularly limited, but the locking member 24 can be provided on the support platform of the winch 30. In this case, it is easy to ensure the space for the locking member 24. In addition, the mooring cable 20 pulled out from the winch 30 turns back at the mooring post 12 to form a double rope, but the paths of the double mooring cables 20 are substantially the same.

[0091] In the mooring system 1 described above, the locking member 24 may have a tension sensor 26 for detecting the tension applied to the mooring cable 20. Since the tension is detected on the side of the tip of the mooring cable 20 that is locked to the locking member 24, a more stable tension measurement can be performed compared to the case where the tension sensor is provided on the winch 30 side.

[0092] Furthermore, in the mooring system 1 described above, the locking member 24 may have a tension buffer 27 to mitigate changes in tension applied to the mooring cable 20. Typically, the hull 5 moored at the dock is connected to multiple mooring cables 20 (tethering lines), each with varying elasticity due to its material. When external forces are applied to the hull 5, the tension of each mooring cable 20 changes, but the mooring cable 20 with lower elasticity bears a greater load compared to the others and may break. In such cases, by providing a tension buffer 27 on the locking member 24, the possibility of breakage is reduced even among the mooring cables 20 with lower elasticity compared to others. Therefore, the tail rope, which serves as a tension-absorbing unit, provided on the mooring cable 20 can be omitted. Since the tail rope, which has a larger diameter than the mooring cable 20, can be omitted, the operation of the mooring cable 20 becomes simpler, and the management of the ropes becomes simpler because the number of rope types can be reduced.

[0093] Furthermore, in the aforementioned tethering system 1, the retaining member 69 of the drone 6 has an annular portion that is movably inserted into the tethering cable 20. This annular portion need not be a complete ring; it can also be a partially open ring. Thus, the retaining member 69 can move freely along the tethering cable 20. Therefore, kinking on the tethering cable 20 can be prevented during the handling of the tethering cable 20 by the drone 6. Moreover, even if the drone 6 is uncontrollable, it will not fly away because it is restrained by the tethering cable 20, making the retrieval of the drone 6 easier.

[0094] (Modified Example)

[0095] Here, a variation of the tethering system 1 according to the first embodiment will be described. Figure 7 This diagram illustrates the state in which drones 6A and 6B are attached to the mooring post 12 with mooring cables 20 in a modified mooring system 1 according to the first embodiment. Figure 7 As shown, the tethering system 1 of the modified example differs from the tethering system 1 of the first embodiment in the following two aspects: it includes multiple transport drones (first drone 6A and second drone 6B); and it includes control devices (a first control device 60A for controlling the first drone 6A and a second control device 60B for controlling the second drone 6B) provided for each of the multiple transport drones. In this modified example, components that are the same as or similar to those in the second embodiment described above are marked with the same reference numerals in the drawings and their descriptions are omitted.

[0096] The first UAV 6A and the second UAV 6B have substantially the same structure as the UAV 6 of the tethering system 1 in the first embodiment. The first control device 60A has substantially the same structure as the control device 60 of the tethering system 1 in the first embodiment. The first UAV 6A is manually or automatically operated by the first control device 60A. The second control device 60B has substantially the same structure as the control device 60 of the tethering system 1 in the first embodiment. The second control device 60B also has the function of controlling the second UAV 6B to automatically follow the first UAV 6A. The position of the second UAV 6B following the first UAV 6A is preset. For example, the second UAV 6B flies a certain number of meters at the same altitude as the first UAV 6A. The first control device 60A and / or the second control device 60B can switch control methods so that the first UAV 6A and / or the second UAV 6B are manually operated.

[0097] [Tethering method using tethering system 1 with modifications]

[0098] Next, the mooring method of the mooring system 1 using the modified example will be described. The mooring release method of the mooring system 1 using the modified example is substantially the same as that of the first embodiment described above. The mooring method of the mooring system 1 using the modified example is generally composed of (1) a preparation step, (2) a cable hanging step, and (3) a cable pulling step, but the (3) cable pulling step of the mooring system 1 using the modified example is omitted from the description because it is substantially the same as that of the first embodiment described above.

[0099] (1) Preparation process

[0100] The mooring line 20 is pulled out from the rope drum 31. Here, the mooring line 20 can be pre-pulled out from the rope drum 31 a sufficient length to the mooring post 12, or it can be pulled out little by little from the rope drum 31 as the drones 6A and 6B move. The tip of the pulled-out mooring line 20 engages with the locking member 24. The middle portion of the mooring line 20 between the tip engaged with the locking member 24 and the base pulled out from the winch 30 is held by the first drone 6A and the second drone 6B. The first drone 6A and the second drone 6B standby in the designated standby position of the floating structure 10.

[0101] (2) Cable hanging process

[0102] During the cable-attaching process, the first UAV 6A and the second UAV 6B can be manually operated by the operator, or at least one of the first UAV 6A and the second UAV 6B can be automatically operated and fly autonomously.

[0103] The first UAV 6A and the second UAV 6B depart from their standby positions and head towards the mooring post 12. They attach the mooring cable 20 to the mooring post 12 and then return to their standby positions. Preferably, the first UAV 6A and the second UAV 6B maintain a distance from each other while flying approximately parallel to the dock of the mooring facility 11 along a line segment connecting them. The retaining members 69 of the mooring cable 20 for the first UAV 6A and the second UAV 6B are attached to the mooring post 12. After the mooring cable 20 is attached to the mooring post 12, the first UAV 6A and the second UAV 6B release the mooring cable 20 and return to their standby positions, or they retain the mooring cable 20 while returning to their standby positions along the mooring cable 20. Thus, by having two UAVs 6A and 6B carry the mooring cable 20, the load on the mooring cable 20 associated with each UAV 6A and 6B is reduced compared to the case where there is only one UAV. Furthermore, a reliable loop of the mooring cable 20 attached to the mooring post 12 is formed, enabling stable mooring.

[0104] [Second Implementation]

[0105] Next, the second embodiment will be described. Figure 8 This diagram illustrates the structure of the tethering system 1A according to the second embodiment of this disclosure. The difference between the tethering system 1A of the second embodiment and the tethering system 1 of the first embodiment is that the drone 6 does not hold the tethering cable 20 at its midpoint; instead, the drone 6 holds the tip of the tethering cable 20 or a cable connected to the tip for securing the cable. In other words, the tethering method of the tethering system 1A differs from that of the tethering system 1 of the first embodiment, but the structure of the tethering system 1A itself is substantially the same as that of the tethering system 1 of the first embodiment. Therefore, in the description of this embodiment, components that are the same as or similar to those in the first embodiment are marked with the same reference numerals in the drawings, and their descriptions are omitted.

[0106] [Tethering method using tethering system 1A]

[0107] The mooring method using mooring system 1A will be described. The mooring release method using mooring system 1A is substantially the same as that described in the first embodiment. The mooring method using mooring system 1A generally consists of (1) a preparation step, (2) a cable attaching step, and (3) a cable pulling step. The cable attaching step can be performed manually or automatically. The (3) cable pulling step using mooring system 1A is omitted from the description because it is substantially the same as that described in the first embodiment.

[0108] (1) Preparation process

[0109] The mooring line 20 is pulled out from the rope drum 31. Here, the mooring line 20 can be pre-pulled out of the rope drum 31 to a sufficient length to the mooring post 12, or it can be pulled out little by little from the rope drum 31 as the drone 6 moves. The tip of the pulled-out mooring line 20 (or the release line connected to the tip) is held by the retainer 69 of the drone 6. Here, the tip of the mooring line 20 becomes a loop, which can be attached to the retainer 69. Alternatively, the tip of the mooring line 20 can be tied to the retainer 69. The drone 6 waits in the designated standby position of the floating structure 10.

[0110] (2) Cable hanging process (in the case of manual operation)

[0111] When the tethering process is performed manually, the operator remotely controls the drone 6 using the operating element 41 of the control device 60. The drone 6, controlled by the operator, departs from the standby position towards the mooring post 12, attaches the mooring line 20 to the mooring post 12, and then returns to the standby position. The operator can visually confirm the images captured by the camera 67 mounted on the drone 6, or visually grasp the positional relationship between the drone 6 and the mooring post 12, and operate the drone 6 accordingly.

[0112] (In cases where it is done automatically)

[0113] When the tethering process is automated, the operator inputs the designation (or position) of the target tether post 12 for attaching the tether cable 20 to the tethering system 1 into the control device 60. However, multiple drones 6 can be operated by a single control device 60. In this case, the target tether post 12 and the designation of the tethering system 1, equipped with the tether cable 20 attached to that tether post 12, are input. The operator inputs a tethering start command into the control device 60. Upon receiving the tethering start command, the control device 60 calculates the flight path of the drone 6. It calculates the flight path of the drone 6: from its standby position to the tether post 12, attaching the tether cable 20 to the tether post 12, and then returning to the standby position. The control device 60 automatically maneuvers the drone 6 to move along the calculated flight path.

[0114] In the mooring process (both manual and automatic), the drone 6 moves from the standby position toward the mooring post 12 while holding the tip of the mooring cable 20. The retaining member 69 rotates in an arc around the mooring post 12, thereby securing the mooring cable 20 to the mooring post 12. Once the mooring cable 20 is secured to the mooring post 12, the drone 6 returns to the standby position of the floating structure 10 while holding the tip of the mooring cable 20. The operator retrieves the tip of the mooring cable 20 from the drone 6 and engages the locking member 24.

[0115] [The winding direction of the mooring cable 20 towards the mooring post 12]

[0116] Here, the winding direction of the mooring cable 20 toward the mooring post 12 is explained. In the mooring system 1A, when the UAV 6 attaches the mooring cable 20 to the mooring post 12, the winding direction of the mooring cable 20 toward the mooring post 12 can be determined by controlling the UAV 6. More specifically, whether the mooring cable 20 is attached to the mooring post 12 from the front to the rear or from the rear to the front can be controlled by the rotation direction of the UAV 6 centered on the mooring post 12. For example, relative to the mooring post 12, the UAV 6 can rotate to attach the mooring cable 20 from the front to the rear or from the rear to the front. Furthermore, "front" and "rear" are defined when viewed parallel to the fore-and-aft direction of the hull 5 of the floating structure 10; the front is referred to as "front" and the opposite side as "rear". Furthermore, the mooring rope 20, which is attached to the mooring post 12, has a first part 21 extending from the tip of the mooring rope that engages with the locking member 24 to the mooring post 12, and a second part 22 extending from the mooring post 12 to the rope drum 31.

[0117] Figure 9 This is a diagram showing an example of the winding direction of the mooring cable 20 toward the mooring post 12. (See diagram for example.) Figure 9 As shown, in the mooring cable 20 provided in the floating structure 10, the first part 21 is located further back than the second part 22. That is, the mooring cable 20 is attached to the mooring post 12 from the front to the rear. In this way, by attaching the mooring cable 20 to the mooring post 12, the mooring cable 20 is less likely to get tangled when the floating structure 10 is moved forward to leave the mooring facility 11.

[0118] Figure 10 This is a diagram showing an example of the winding direction of the mooring cable 20 toward the mooring post 12. Alternatively, as... Figure 10 As shown, the first portion 21 of the mooring cable 20 located at the front of the floating structure 10 is positioned further rearward than the second portion 22, while the first portion 21 of the mooring cable 20 located at the rear of the floating structure 10 is positioned further forward than the second portion 22. In other words, the mooring cable 20 at the front of the floating structure 10 is attached to the mooring post 12 from front to rear, and the mooring cable 20 at the rear of the floating structure 10 is attached to the mooring post 12 from rear to front. Thus, with the mooring cable 20 attached to the mooring post 12, the tension applied to the first portion 21 and the second portion 22 is substantially the same, but the first portion 21 may sometimes bear a higher tension than the second portion 22. In this case, the increase in tension can be quickly detected by the tension sensor 26 located on the locking member 24.

[0119] (Modified Example)

[0120] Here, a variation of the tethering system 1A of the second embodiment will be described. Figure 11This diagram illustrates the state in which drones 6C and 6D are secured to the mooring post 12 with mooring lines 20 in a modified mooring system 1A according to the second embodiment. The modified mooring system 1A differs from the mooring system 1A of the second embodiment in two aspects: it includes multiple transport drones (first drone 6C and second drone 6D); and it includes control devices for each of the multiple drones (a first control device 60C for controlling the first drone 6C and a second control device 60D for controlling the second drone 6D). In this modified example, components that are the same as or similar to those in the second embodiment are labeled with the same reference numerals in the drawings, and descriptions are omitted.

[0121] The first UAV 6C and the second UAV 6D have substantially the same structure as the UAV 6 of the tethering system 1 in the first embodiment. The first control device 60C has substantially the same structure as the control device 60 of the tethering system 1 in the first embodiment. The first UAV 6C is manually or automatically operated by the first control device 60C. The second control device 60D has substantially the same structure as the control device 60 of the tethering system 1 in the first embodiment. The second control device 60D also has the function of controlling the second UAV 6D to automatically follow the first UAV 6C. The position of the second UAV 6D following the first UAV 6C is preset. For example, the second UAV 6D flies a certain number of meters at the same altitude as the first UAV 6C. The first control device 60C and / or the second control device 60D can switch control methods by manually operating the first UAV 6C and / or the second UAV 6D.

[0122] [Tethering method using the modified tethering system 1A]

[0123] Next, the mooring method of the mooring system 1A using the modified example will be described. The mooring release method of the mooring system 1A using the modified example is substantially the same as that of the first embodiment described above. The mooring method of the mooring system 1A using the modified example generally consists of (1) a preparation step, (2) a cable hanging step, and (3) a cable pulling step, but the (3) cable pulling step of the mooring system 1A using the modified example is omitted from the description because it is substantially the same as that of the first embodiment described above.

[0124] (1) Preparation process

[0125] The mooring line 20 is pulled out from the rope drum 31. Here, the mooring line 20 can be pre-pulled out from the rope drum 31 a sufficient length to the mooring post 12, or it can be pulled out little by little from the rope drum 31 as the drone 6C moves. The tip of the pulled-out mooring line 20 (or the release line connected to the tip) is held by the retainer 69 of the first drone 6C. Here, the tip of the mooring line 20 becomes a loop, which can be attached to the retainer 69. Alternatively, the tip of the mooring line 20 can be tied to the retainer 69. The middle portion of the mooring line 20 between the tip engaged with the locking member 24 and the base pulled out from the winch 30 is held by the retainer 69 of the second drone 6D. The first drone 6C and the second drone 6D are in standby positions specified by the floating structure 10.

[0126] (2) Cable hanging process

[0127] During the cable-attaching process, the first UAV 6C and the second UAV 6D can be manually operated by the operator, or at least one of the first UAV 6C and the second UAV 6D can be automatically operated and fly autonomously.

[0128] The first UAV 6C departs from its standby position toward the tether post 12, attaches the tether cable 20 to the tether post 12, and then returns to the standby position. The first UAV 6C rotates in an arc around the tether post 12 via its retainer 69, with the tether cable 20 still attached to the tether post 12. The second UAV 6D follows the first UAV 6C, departing from its standby position toward the tether post 12. The second UAV 6D can autonomously fly from its standby position to the tether post 12, following the first UAV 6C.

[0129] The second drone 6D stops flying beyond the tether post 12 until the first drone 6C returns to the standby position or until the tip of the tether cable 20 engages with the locking element 24. Here, the second drone 6D pulls on the tether cable 20 from the side of the tethering facility 11 with the tether post 12 inside the loop of the tether cable 20. Thus, even if the tether cable 20 becomes slack before the first drone 6C returns from the tether post 12 to the standby position, the tether cable 20 will remain inside the loop of the tether post 12, and will not detach from the tether post 12.

[0130] If the first drone 6C returns to the standby position, the operator receives the tip of the tether cable 20 from the first drone 6C, causing the locking member 24 to engage. After the tip of the tether cable 20 is engaged with the locking member 24, the second drone 6D releases the tether cable 20.

[0131] As explained above, the mooring system 1A of this embodiment, in a modified example, designates one of the floating structure 10 and the mooring facility 11 as a first object and the other as a second object, mooring the floating structure 10 to the mooring facility 11, and includes:

[0132] Mooring rope 20;

[0133] A winch 30, configured on a second object, capable of winding and pulling out the mooring cable 20;

[0134] A locking element 24 disposed on the second object, capable of locking the engagement and disengagement of the tip of the mooring cable 20;

[0135] A first UAV 6C and a second UAV 6D having a retaining member 69 for retaining a tether cable 20;

[0136] The first control device 60C controls the first drone 6C as follows: While holding the tip of the tether cable 20, the first drone 6C moves from the second object toward the tether post 12 located on the first object, and tethers the midway portion of the tether cable 20 between the tip, which is engaged with the locking member 24, and the base pulled out from the winch 30, to the tether post 12; and

[0137] The second control device 60D controls the second drone 6D, that is, the second drone 6D stops from the second object toward the tether post 12 while holding the middle part of the tether cable 20, in a state of pulling the tether cable 20 on the side of the first object, until the first drone 6C returns to the second object or until the tip of the tether cable 20 is locked with the locking member 24.

[0138] Furthermore, in a modified embodiment of this method, the mooring method involves designating one of the floating structure 10 and the mooring facility 11 as a first object and the other as a second object, and mooring the floating structure 10 to the mooring facility 11. A winch 30 capable of winding and pulling out the mooring cable 20, and a locking member 24 capable of engaging and disengaging from the tip of the mooring cable 20, are disposed on the second object.

[0139] The steps include: holding the tip of the tether cable 20 by the first drone 6C;

[0140] The second UAV 6D maintains the middle part of the mooring cable 20 between the tip of the mooring cable 20 that is locked with the locking member 24 and the base that is pulled out from the winch 30;

[0141] The first control device 60C controls the first drone 6C so that the first drone 6C, while holding the tip of the tether 20, moves from the second object toward the tether post 12 located on the first object, ties the middle part of the tether 20 to the tether post 12, and returns to the second object.

[0142] The second control device 60D controls the second drone 6D so that, while holding the middle portion of the tether cable 20, the second drone 6D moves from the second object toward the tether post 12, maintaining tension on the tether cable 20 by stopping at the first object until the first drone 6C returns to the second object or the tip of the tether cable 20 engages with the locking member 24; and

[0143] After the mooring cable 20 is attached to the mooring post 12, the locking member 24 locks into the tip of the mooring cable 20.

[0144] According to the mooring system 1A and mooring method described above, the mooring operation is performed by the cooperation of the first UAV 6C and the second UAV 6D. In particular, from the moment the first UAV 6C attaches the mooring cable 20 to the mooring post 12 until it returns to the second object, the second UAV 6D maintains the tension of the mooring cable 20, thus preventing the mooring cable 20 from slackening and detaching from the mooring post 12.

[0145] [Third Implementation Method]

[0146] Next, the third embodiment will be described. Figure 12 This is a diagram showing the structure of the tethering system 1B according to the third embodiment of this disclosure. Figure 12 The third embodiment of the tethering system 1B shown differs from the first embodiment of the tethering system 1 in that it also includes a pilot drone 6E and a pilot control device 60E for controlling the pilot drone 6E. Apart from this difference, the structure of the third embodiment of the tethering system 1B is substantially the same as that of the first embodiment of the tethering system 1. Therefore, in the description of this embodiment, the differences from the first embodiment of the tethering system 1 described above will be explained in detail, and components that are the same as or similar to those in the first embodiment will be marked with the same reference numerals in the drawings and their descriptions will be omitted.

[0147] The pilot control device 60E has a structure substantially the same as that of the control device 60 of the tethering system 1 in the first embodiment. The pilot drone 6E is manually or automatically operated by the pilot control device 60E. In addition to having a structure substantially the same as that of the control device 60 of the tethering system 1 in the first embodiment, the control device 60 also has the function of controlling the transport drone 6 in a manner that allows the pilot drone 6E to automatically follow. The control device 60 switches the control method to manually operate the transport drone 6. The position at which the transport drone 6 follows the pilot drone 6E relative to the pilot drone 6E is preset. For example, the transport drone 6 flies at the same altitude as the pilot drone 6E for a certain number of meters.

[0148] The transport drone 6 has a retainer 69 for the tether 20, which is held by the transport drone 6. Therefore, the transport drone 6, like the pilot drone 6E, has a large and capable airframe. Furthermore, since the pilot drone 6E does not carry the tether 20, it has a lighter airframe than the transport drone 6 and is equipped with a variety of sensors for path exploration.

[0149] As explained above, the mooring system 1B according to this embodiment designates one of the floating structure 10 and the mooring facility 11 as a first object and the other as a second object, mooring the floating structure 10 to the mooring facility 11, and includes:

[0150] Mooring rope 20;

[0151] A winch 30, configured on a second object, capable of winding and pulling out the mooring cable 20;

[0152] A locking element 24 disposed on the second object, capable of locking the engagement and disengagement of the tip of the mooring cable 20;

[0153] At least one transport drone 6 having a retaining element 69 with a retaining tether 20;

[0154] A pilot drone 6E that guides the movement of the transport drone 6;

[0155] A pilot control device 60E for controlling the pilot drone 6E; and a control device 60 for controlling the transport drone 6;

[0156] Control device 60 controls transport drone 6 in such a way that transport drone 6 follows pilot drone 6E;

[0157] The pilot control device 60E controls the pilot drone 6E as follows: while holding the tether cable 20, the transport drone 6 following the pilot drone 6E moves from the second object toward the tether post 12 provided on the first object, and the middle part of the tether cable 20 between the tip end that is locked with the locking member 24 and the base that is pulled out from the winch 30 is attached to the tether post 12.

[0158] Furthermore, the mooring method according to this embodiment is characterized in that one of the floating structure 10 and the mooring facility 11 is a first object and the other is a second object, and the floating structure 10 is moored to the mooring facility 11. A winch 30 capable of winding and pulling out the mooring cable 20 and a locking member 24 capable of engaging and disengaging from the tip of the mooring cable 20 are disposed on the second object.

[0159] The steps include: maintaining the mooring cable 20 using at least one transport drone 6;

[0160] The pilot drone 6E and the transport drone 6 are controlled so that the pilot drone 6E guides the movement of the transport drone 6, and the transport drone 6 follows the pilot drone 6E, thereby causing the transport drone 6 to move from the second object toward the tether post 12 located on the first object while maintaining the tether cable 20, and to tether the middle part of the tether cable 20 between the tip of the cable that is locked with the locking member 24 and the base that is pulled out from the winch 30 to the tether post 12; and

[0161] Before (or after) the mooring cable 20 is attached to the mooring post 12, the tip of the mooring cable 20 is secured on the locking member 24.

[0162] According to the tethering system 1B and method described above, by distributing functions to the lead drone 6E, which undertakes path exploration, and the transport drone 6, which undertakes the transport of the tethering cable 20, each drone can have functions adapted to its respective role. This allows for improvements in the path exploration accuracy of the lead drone 6E and the flight stability of both the lead drone 6E and the transport drone 6.

[0163] Although several embodiments are disclosed in this specification, two or more of the embodiments can be appropriately combined. For example, the features of the tethering system 1B can be applied to the tethering system 1A of the second embodiment described above. That is, in the tethering method using the tethering system 1A of the second embodiment, the drone 6 can be controlled so that the movement of the drone 6 is led by the pilot drone 6E, and the drone 6 follows the pilot drone 6E.

[0164] The functions of the arithmetic unit 45 and the control unit 68 disclosed in this specification are performed by using a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a circuit comprising a combination thereof, or a processing circuit, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors or other circuitry. In this disclosure, a circuit, unit, or device is hardware that performs the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware programmed or configured to perform the listed functions. In the case where the hardware is a processor considered a type of circuit, the circuit, device, or unit is a combination of hardware and software, with the software used to configure the hardware and / or the processor.

[0165] Symbol explanation:

[0166] 1, 1A, 1B: Tethering System

[0167] 6, 6A~6D: Unmanned aerial vehicles (UAVs) for transport purposes

[0168] 6E: Pilot Unmanned Aerial Vehicle

[0169] 10: Floating structures

[0170] 11: Tethering facilities

[0171] 12: Tie column

[0172] 20: Mooring rope

[0173] 24: Locking component

[0174] 26: Tension sensor

[0175] 27: Tension buffer

[0176] 30: Winch

[0177] 60, 60A~60F: Control devices

[0178] 69: Retaining element.

Claims

1. A mooring system comprising: a floating structure and a mooring facility, wherein one is a first object and the other is a second object, and the floating structure is moored to the mooring facility; the system further comprising: mooring rope; A winch, configured on the second object, capable of winding and pulling out the tethering cable; A locking element disposed on the second object, capable of engaging and disengaging from the tip of the tethering rope; At least one drone having a retaining element for holding the tethered cable; and The control device for controlling the drone is as follows: While maintaining the tether cable, the drone moves from the second object toward the tether post positioned on the first object, and the midway portion of the tether cable between the tip and the base pulled from the winch is attached to the tether post. The drone is a transport drone for carrying the mooring cable, and also includes a pilot drone for guiding the movement of the transport drone. The control device controls the transport drone by following the pilot drone.

2. The tethering system according to claim 1, characterized in that, The control device controls the drone as follows: the drone moves from the second object toward the mooring post while maintaining the middle portion of the mooring cable between the tip of the mooring cable engaged with the locking member and the base pulled out from the winch.

3. The tethering system according to claim 1 or 2, characterized in that, The locking element has a tension sensor that detects the tension applied to the tethering cable.

4. The mooring system according to claim 1 or 2, characterized in that, The locking element has a tension buffer that mitigates changes in the tension applied to the tethering cable.

5. The tethering system according to claim 1 or 2, characterized in that, The retainer has an annular portion that is movably inserted through by the mooring rope.

6. The tethering system according to claim 1 or 2, characterized in that, The drone includes a first drone that holds a first portion of the mid-section of the mooring cable during transport and a second drone that holds a second portion of the mid-section of the mooring cable during transport.

7. A mooring system comprising: a floating structure and a mooring facility, wherein one is a first object and the other is a second object, and the floating structure is moored to the mooring facility; the system further comprising: mooring rope; A winch, configured on the second object, capable of winding and pulling out the tethering cable; A locking element disposed on the second object, capable of engaging and disengaging from the tip of the tethering rope; At least one drone having a retaining element for holding the tethered cable; and The control device for controlling the drone is as follows: While maintaining the tether cable, the drone moves from the second object toward the tether post positioned on the first object, and the midway portion of the tether cable between the tip and the base pulled from the winch is attached to the tether post. The drone includes a first drone that holds the tip of the mooring cable during transport and a second drone that holds the middle portion of the mooring cable during transport.

8. A mooring method comprising mooring the floating structure to the mooring facility by designating one of a floating structure and a mooring facility as a first object and the other as a second object. A winch capable of winding and pulling out the mooring cable, and a locking device capable of engaging and disengaging the tip of the mooring cable, are disposed on the second object. This includes the following steps: maintaining the mooring line using at least one drone; The drone is controlled as follows: while maintaining the tether cable, the drone moves from the second object toward the tether post positioned on the first object, and the midway portion of the tether cable between the tip and the base pulled from the winch is attached to the tether post; and Before or after the mooring rope is attached to the mooring post, the locking element engages with the tip of the mooring rope. The drone is a transport drone for moving the mooring cable, and a pilot drone guides the movement of the transport drone, while the transport drone follows the pilot drone.

9. The mooring method according to claim 8, characterized in that, The drone holds the midway portion of the mooring cable between the tip end engaged with the locking member and the base portion pulled out from the winch, while the drone holds the midway portion of the mooring cable from the second object toward the mooring post.

10. The mooring method according to claim 8 or 9, characterized in that, The drone includes a first drone that holds a first portion of the mid-section of the mooring cable during transport and a second drone that holds a second portion of the mid-section of the mooring cable during transport.

11. A mooring method comprising mooring the floating structure to the mooring facility by designating one of a floating structure and a mooring facility as a first object and the other as a second object. A winch capable of winding and pulling out the mooring cable, and a locking device capable of engaging and disengaging the tip of the mooring cable, are disposed on the second object. This includes the following steps: maintaining the mooring line using at least one drone; The drone is controlled as follows: while maintaining the tether cable, the drone moves from the second object toward the tether post positioned on the first object, and the midway portion of the tether cable between the tip and the base pulled from the winch is attached to the tether post; and Before or after the mooring rope is attached to the mooring post, the locking element engages with the tip of the mooring rope. The drone includes a first drone that holds the tip of the mooring cable during transport and a second drone that holds the middle portion of the mooring cable during transport.

Images