Sensor assembly for a watercraft

Abstract

A sensor assembly (301) for sensing a force applied to a fender (102, 1701) comprises an array of force sensors (S), each force sensor for sensing an applied force, and a controller (1101) for control

Description

[0001] SENSOR ASSEMBLY FOR A WATERCRAFT

[0002] Field of the Invention

[0003] The present application relates to a sensor assembly for a watercraft and more particularly to a sensing assembly for sensing force applied to a fender of or for a waterborne vessel or berthing structure, and to a method of sensing force applied to a fender of or for a waterborne vessel or berthing structure.

[0004] Background of the Invention

[0005] A fender is an implement that is usable to provide a cushion between a watercraft, such as a ship or a tugboat or other waterborne vessel, and another fixed or movable body that the watercraft may come into contact with, for example another waterborne vessel, a jetty or a wall, to protect against impact damage.

[0006] Fenders are known that are designed to deflect under an applied force, to absorb kinetic energy. Such a fender may be made, for example, from a rubber, foam elastomer or plastics material, and may, for example, have a solid or hollow section. Characteristics of a fender, such as size, shape, material and reaction force, will be selected according to where the fender will be used. It is known for a fender to be used on a boat or ship, and it is known for a fender to be used on a berthing structure. A fender may be provided at a fixed position or may be arranged to float and so adjust to the water level.

[0007] A waterborne vessel may be provided with fenders of different types, which may be used at different positions on the waterborne vessel. A watercraft may be provided with different styles and / or grades of fender that are selected to perform a particular function in a particular application.

[0008] Fenders should be inspected regularly for damage and, as appropriate, replacement.

[0009] Summary of the Invention

[0010] According to a first aspect there is provided a sensor assembly for sensing a force applied to a fender, the sensor assembly comprising: an array of force sensors, each force sensor of the array of force sensors for sensing an applied force, and a controller for controlling the force sensors of the array of force sensors.

[0011] I In an example, the sensor assembly is functional to detect an instance of an applied force. The sensor assembly may be functional to determine an extent of a detected applied force. Each force sensor of the array of force sensors may be functional to determine an extent of an applied force. In an example, the sensor assembly is functional to determine that an applied force exceeds a predetermined magnitude of force. The determination that an applied force has been detected that exceeds a predetermined magnitude of force may be used to initiate an alarm or indicate an alert condition.

[0012] In an example, the sensor assembly is functional to determine a region of the sensor assembly in which an applied force is detected. In an application, the region of the sensor assembly in which an applied force is determined to have been applied indicates a region of contact with a fender.

[0013] In an example, the sensor assembly is functional to determine a direction of a force applied to the sensor assembly. In an application, the direction that the applied force is determined to have been applied to the sensor assembly indicates a direction of contact with a fender.

[0014] The array of force sensors may comprise one or more of: at least one strain gauge, at least one load cell, at least one accelerometer.

[0015] The sensor assembly of any preceding claim may further comprise at least one additional array of force sensors, each force sensor of the or each additional array of force sensors for sensing an applied force, and a controller for controlling the force sensors of the array of force sensors. In an application, the sensor assembly comprises multiple arrays of force sensors with array of force sensors for a respective fender of a fender arrangement.

[0016] In an example, a communication module enabling wireless communication with a remote device is communicatively connected the controller. The communication module may enable one-way communication from the controller to the remote device or two-way communication between the controller and the remote device. The controller may transmit data to the remote device via the communication module. The controller may be configured to process data received from the force sensors to generate processed data.

[0017] The force sensors of the or each array of force sensors may be disposed on a sensor backing. In an example, the sensor assembly comprises a pair of outer flexible layers between which an inner flexible layer is disposed, and the or each array of force sensors is disposed between one of the outer flexible layers and the inner flexible layer.

[0018] According to a second aspect there is provided a fender comprising a sensor assembly according to the first aspect. In an example, the fender has an exterior surface and a hollow core bounded by an interior surface of the fender. The fender may be generally D-shaped, O- shaped or W-shaped in cross-section. In an example, the fender has a substantially planar front face.

[0019] According to a second aspect there is provided a fender arrangement, comprising: at least one fender, and a sensor assembly according to the first aspect, the sensor assembly positioned relative to the at least one fender for sensing a force applied to the at least one fender. The sensor assembly may be retrofitted or provided as original equipment. In other words, the sensor assembly may be added to an existing fender or incorporated within a fender during production of the fender.

[0020] The fender arrangement may be configured for use on a watercraft. In an example, the array of force sensors of the sensor assembly comprises force sensors are arranged in a linear series. According to a third aspect there is provided a watercraft comprising a fender arrangement according to the second aspect.

[0021] The fender arrangement may be configured for use on a berthing structure. In an example, the array of force sensors of the sensor assembly comprises force sensors arranged in a matrix having at least a 2 x 2 configuration. According to a fourth aspect there is provided a berthing structure comprising a fender arrangement according to the second aspect.

[0022] According to a fifth aspect there is provided a method of sensing a force applied to a fender of a watercraft or a berthing structure, comprising: providing the fender with a sensor assembly according to the first aspect positioned relative to the fender for sensing a force applied to the fender; and operating the sensor assembly to sense a force applied to the fender.

[0023] According to a sixth aspect there is provided a method, comprising: providing a watercraft according to the third aspect; and operating the sensor assembly of the fender arrangement to sense a force applied to the at least one fender of the fender arrangement. According to a seventh aspect there is provided a method, comprising: providing a berthing structure according to the fourth aspect; and operating the sensor assembly of the fender arrangement to detect a force applied to the at least one fender of the fender arrangement.

[0024] The method of the fifth, sixth or seventh aspects may comprise determining an extent of a detected applied force, and may further comprise determining that a detected applied force exceeds a predetermined magnitude of force. The method of the fifth, sixth or seventh aspects may comprise determining a region of the fender arrangement in which an applied force is detected. The method of the fifth, sixth or seventh aspects may comprise determining a direction of a force applied to the sensor assembly.

[0025] Further particular and preferred aspects of the present invention are set out in the dependent claims.

[0026] The present invention provides a sensor assembly for a watercraft, which may be implemented in a fender arrangement of the watercraft or a berthing structure or other body that the watercraft may make contact with. A sensor assembly for a watercraft or a berthing structure, the sensor assembly for sensing force applied to a fender of the watercraft or the berthing structure, is provided. A watercraft and / or a berthing structure provided with the sensor assembly is provided. A fender arrangement for a watercraft or a berthing structure, the fender arrangement comprising at least one fender and the sensor assembly, is provided. A watercraft / waterborne vessel provided with the fender arrangement is provided. A berthing structure provided with the fender arrangement is provided. A method of sensing force applied to a fender of a waterborne vessel and / or of a berthing structure is provided.

[0027] In a specific implementation, the sensor assembly is functional to detect an instance of a force applied to a fender. In a specific implementation, the sensor assembly is functional to indicate a region of the fender in which an applied force is detected. In a specific implementation, the sensor assembly is functional to detect a direction of a detected force applied to a fender.

[0028] The present invention allows for feedback relating to force applied to a fender of a watercraft to be provided during manoeuvring of the watercraft so that action can be taken to avoid the application of excessive force to the watercraft and / or another body (for example another waterborne vessel or a berthing structure) or the watercraft to, in turn, reduce the risk of damage to the watercraft and / or the other body. Brief Description of the Drawings

[0029] The present invention will now be more particularly described, with reference to the accompanying drawings, in which:

[0030] Figure I shows a prior art watercraft provided with a fender arrangement;

[0031] Figure 2 shows example impact damage to a prior art waterborne vessel;

[0032] Figure 3 shows a front view of a watercraft comprising a sensor assembly, the sensor assembly according to the present invention;

[0033] Figure 4 shows a perspective view of the watercraft comprising a sensor assembly of Figure 3;

[0034] Figures 5 & 6 show a top view and a perspective view respectively of the watercraft comprising a sensor assembly of Figure 3, the watercraft contacting a physical object, in a first example scenario, from a first, head-on direction;

[0035] Figure 7 shows a front view of the watercraft comprising a sensor assembly of Figure 3, during the contact with a physical object illustrated in Figures 5 & 6;

[0036] Figures 8 & 9 shows a top view and a perspective view respectively of the watercraft comprising a sensor assembly of Figure 3, the watercraft contacting a physical object, in a second example scenario, from a second, angled direction;

[0037] Figure 10 shows a front view of the watercraft comprising a sensor assembly of Figure 3, during the contact with a physical object illustrated in Figures 8 & 9;

[0038] Figure I I shows an exploded view of a sensor assembly according to a specific example;

[0039] Figure I 2 illustrates an array of force sensors of the sensor assembly of Figure I I ;

[0040] Figures 13, 14, 15 & 16 illustrate different examples of a fender provided with a sensor assembly;

[0041] Figures I 7 & 18 show a front view and a partially exploded view respectively of a fender provided with a sensor assembly, according to another example;

[0042] Figure 19 shows features of the sensor assembly of the fender of Figure I 7; and

[0043] Figure 20 illustrates the fender of Figure I 7 in use on a berthing structure.

[0044] Description

[0045] Illustrative embodiments and examples are described below in sufficient detail to enable those of ordinary skill in the art to embody and implement the apparatus and process described herein. It is to be understood that embodiments and examples can be provided in many alternate forms and the invention should not be construed as limited to the specific embodiments and examples set forth herein but by the scope of the disclosure. Unless otherwise defined, all terms (including technical and scientific terms) used herein are to be interpreted as is customary in the art. In addition, features referred to herein in the singular can number one or more, unless the context clearly indicates otherwise. Similarly, the terms “comprises”, “comprising”, “includes”, “including”, “has” and / or “having” when used herein, specify the presence of the stated feature or features and do not preclude the presence or addition of one or more other features, unless the context clearly indicates otherwise. In the following description, all orientational terms, such as upper, lower, radially and axially, are used in relation to the drawings and should not be interpreted as limiting on the invention, unless the context clearly indicates otherwise. The drawings are not necessarily drawn to scale, and in some instances may have been exaggerated or simplified for illustrative purposes only.

[0046] The term “watercraft” as used herein should be interpreted to mean any vessel or vehicle designed for, or being otherwise suitable for, travelling in water, and in relation to which the present invention may be usefully employed, for example, but not limited to, a ship or a tugboat.

[0047] The term “waterborne vessel” as used herein should be interpreted to mean a “watercraft”, in particular when in water.

[0048] The term “berthing structure” as used herein should be interpreted to mean any structure designed for, or otherwise being suitable for, providing a mooring location for a watercraft / waterborne vessel, and in relation to which the present invention may be usefully employed, for example, but not limited to, a pier, a quay, a jetty or a wall.

[0049] The present invention provides at least:

[0050] - a sensor assembly for a watercraft vessel for sensing force applied to a fender thereof;

[0051] - a sensor assembly for a berthing structure for sensing force applied to a fender thereof;

[0052] - a method of sensing force applied to a fender of a watercraft / waterborne vessel and / or of a berthing structure ;

[0053] - a fender arrangement for a watercraft, the fender arrangement comprising at least one fender and the sensor assembly;

[0054] - a fender arrangement for a berthing structure, the fender arrangement comprising at least one fender and the sensor assembly;

[0055] - a watercraft provided with the fender arrangement;

[0056] - a berthing structure provided with the fender arrangement. In a specific embodiment, the sensor assembly is functional to detect an instance of a force applied to a fender. In a specific embodiment, the sensor assembly is functional to indicate a region of the fender in which an applied force is detected. In a specific embodiment, the sensor assembly is functional to detect a direction of a detected force applied to a fender.

[0057] The present invention allows for feedback relating to force applied to a fender of a watercraft to be provided during manoeuvring of the watercraft so that action can be taken to avoid the application of excessive force to the watercraft and / or another body (for example, a berthing structure) the watercraft to, in turn, reduce the risk of damage to the watercraft and / or the other body.

[0058] Therefore, a guidance system for the waterborne vessel is provided by the present invention. The sensor assembly, in use, is functional to provide information that is utilisable by a driver (also known as a helmsman) of the waterborne vessel to prevent or limit the application of relative force that may cause damage to the fender arrangement of the waterborne vessel or to another body (for example, another waterborne vessel or a berthing structure).

[0059] Data provided by the sensor assembly may be analysed to provide other features useful for monitoring contact situations between a watercraft and another body, which may be utilised in one or more ways, for example in the assessment of an impact incident, for general monitoring, for training of operatives, for demonstrating compliance, or for technological development. In an example the sensor assembly is usable to detect that a fender has been compromised due to a contact / impact event.

[0060] It is to be appreciated that the implementation of the present invention is not limited to any specific example of a watercraft / waterborne vessel or berthing structure mentioned herein and / or shown in the accompanying drawings. It is also to be appreciated that the present invention is applicable to many different types of fenders and that implementation of the present invention is not limited to any specific example of a fender or fender arrangement described herein and / or shown in the accompanying drawings.

[0061] Figure I shows a prior art tugboat 100 comprising a fender arrangement 101 for preventing damage arising from contact with another object (which may be another vessel or a marine structure). The fender arrangement 101 comprises at least a first fender 102 and a second fender 103. According to the illustrated fender arrangement 101 , first fender 102 and second fender 103 are both positioned at the front of the tugboat 100. The shown first fender 102 is a “sausage” fender, that is arranged to sit in a scalloped section in the bulwark, and is typically held in place by straps and a long wire or chain through its core. The shown second fender 103 is a “chock” fender, that is positioned beneath the first fender 102 and may be of the type that comprises a series of solid rubber sections or of the type that features at least one internal channel. Comparing the two fenders 102, 103, the “sausage” fender 102 is designed to absorb a lesser load and compress more, and the “chock” fender is designed to absorb a greater load and to deflect less.

[0062] Figure 2 shows typical impact damage that can be caused due to irresponsible or negligent operations, such as may be observed when a tug has had a large impact or sliding contact on the berthing vessel. In the example shown at A, a part of fender 201 is missing; in the example shown at B, a length of fender 202 includes missing and displaced portions. In both examples, the damaged fender has performed a protective function but its abilty to protect the vessel in future is now impaired.

[0063] It is desirable to provide a means for reducing damage to a fender. The present invention provides apparatus and a method for meeting this objective. The present invention will now be described with reference to Figures 3-20.

[0064] A sensor assembly, indicated generally at 301 , according to a specific example of the present invention, is illustrated in Figures 3 & 4. The sensor assembly 301 is shown in use on the prior art tugboat 100. In the present specific example, the sensor assembly 301 is positioned relative to the fender arrangement 101 of the tugboat 100 for sensing a force applied to the fender arrangement 101.

[0065] As will be described in further detail below, the sensor assembly comprises an array of force sensors, each force sensor of the array of force sensors for sensing an applied force, and a controller for controlling the force sensors of the array of force sensors.

[0066] According to the present illustrated example, the sensor assembly 301 comprises a first array of force sensors, indicated at 302, and a second array of force sensors, indicated at 303. As shown, the first force sensors array 302 is associated with the first fender 102 of the tugboat 100 and the second force sensor array 303 is associated with the second fender 103 of the tugboat 100. According to this specific illustrated example, each array of force sensors 302, 303 comprises 7 sensors, with each force sensor having a unique identifier; as can be seen in Figure 3, the sensors of each force sensor array 302, 303 are numbered, from left to right, 7, 6, 5, I , 4, 3, 2.

[0067] It is important to understand however that a sensor assembly according to the present invention may comprise a single array of force sensors or multiple arrays of force sensors. An array of force sensors of a sensor assembly according to the present invention may comprise any suitable number of force sensors, each of any suitable type, in any suitable arrangement. In examples in which the sensor assembly comprises multiple arrays of force sensors, each array of force sensors of the multiple arrays of force sensors may differ from, or be the same as, one or more other array of force sensors of the multiple arrays of force sensors in one or more ways.

[0068] In an example, an array of force sensors of the sensor assembly may comprise at least one strain gauge. In an example, an array of force sensors of the sensor assembly may comprise at least one load cell. In an example, an array of force sensors of the sensor assembly may comprise at least one accelerometer.

[0069] In an example, the force sensors of the array of force sensors of the sensor assembly are disposed on a sensor backing. In an example, the sensor assembly comprises a plurality of arrays of force sensors, and the force sensors of each array of force sensors are disposed on a respective backing or the force sensors of the array of force sensors are all disposed on a common sensor backing. In an example, sensor backing sheeting made from a metal material is utilised.

[0070] In an example, the sensor assembly comprises a pair of outer flexible layers, and an inner flexible layer disposed between the pair of outer layers, and the force sensors of the or each array of force sensors are disposed between one of the outer flexible layers and the inner flexible layer. In an example, a space / an air gap is provided between the inner flexible layer and the respective outer flexible layer for each of the force sensors to operate in. The space / air gap may be provided though surface profiling or a spacer element. In an example, each of the pair of outer flexible layers and, optionally also the inner flexible layer, is made from a waterproof material or is otherwise made impervious to moisture. Each force sensor S of the sensor assembly 301 is configured to detect an applied force. In a preferred embodiment, each force sensor S is configured to indicate an extent of the applied force.

[0071] The force sensors S of each array of force sensors 302, 303 are spaced with force sensor S I sited centre-front of the tugboat 100 and with force sensors S7-S5 extending to one (left) side and force sensors S4-S2 extending to the other (right) side. According to this specific illustrated example, the force sensors S of each array of force sensors 302, 303 are spaced equidistantly around the front of the tugboat 100, and are arranged in a linear series (in other words, in a I x N matrix). It is to be appreciated however that the force sensors of an array of force sensors may be distributed according to any suitable arrangement, and therefore the spacing between force sensors S, in a length direction L and / or in a height direction H, may change with distance from a reference point of the watercraft. Further it is to be appreciated that the relative positioning of the force sensors of different arrays of force sensors may vary between specific examples.

[0072] In a specific embodiment, the sensor assembly is functional to detect an instance of a force applied to a fender. In a specific example, the sensor assembly is functional to determine that a detected force applied to a fender exceeds a predetermined magnitude of force. In one example, the sensor assembly is functional to determine that a force applied to a fender has been detected and to determine whether the extent of a detected force on the fender exceeds a predetermined threshold magnitude of force. In one example, the sensor assembly is functional to determine that a force applied to a fender that exceeds a predetermined threshold magnitude of force has been detected. In a specific embodiment, the sensor assembly is functional to determine a region of the fender in which an applied force is detected. In a specific embodiment, the sensor assembly is functional to determine a direction of a detected force applied to a fender. It is possible for the same or a similar region of a fender of watercraft to make contact with another body from different angles of travel. Therefore, determining a direction of the force applied to a fender may be useful, for example, to distinguish between impact scenarios.

[0073] Data derived from operation of the sensor assembly may be processed and utilised to cause a display device, for example, comprising a visual display device and / or an audio output device, to output a visual and / or audio indication of a determination of the sensor assembly, a condition of the sensor assembly and / or a condition of a fender. Data derived from operation of the sensor assembly may be processed by the controller to generate processed data. Processed data may be output by the controller to a display device that is operatively connected to the controller, for example by a wired connection, for output by the display device in a visual and / or audio format. It is to be appreciated therefore that mention of the sensor assembly determining the occurrence of an event can denote an indication of a determination made by the sensor assembly.

[0074] A communication module enabling wireless communication with a remote device may be communicatively connected the controller, and data may be output by the controller to the remote device. In an example, the remote device comprises a display device. The remote device may be configured to receive processed data from the controller for output by the display device. The remote device may also comprise a data processor and be configured to receive data from the controller and to process received data to generate processed data for output by the display device.

[0075] Referring now to Figures 5-7, in Figures 5 & 6, the tugboat 100 comprising the sensor assembly 301 is shown making contact with a wall 501 (which may be a surface of any other body, which may be a movable body (for example another waterborne vessel) or a fixed body (for example, a berthing structure)), from a first direction D I . In this first illustrated impact scenario, the first direction D I is perpendicular to the wall 501. Thus, the tugboat 100 is shown in Figures 5 & 6 making head-on contact. Most of the force applied on first fender 102 is registered at the bow, by central force sensor S I , with a lesser extent of force being registered by the force sensors S4, S5 on either sides of the central force sensor S I . As indicated in Figure 7, the force sensors S I , S4 and S5 of the second sensor array 303 are activated similarly to force sensors S I , S4 and S5 of the first sensor array 302 during the head-on contact being made in the first illustrated impact scenario of Figures 5 & 6.

[0076] Referring now to Figures 8-10, in Figures 8 & 9, the tugboat 100 comprising the sensor assembly 301 is shown making contact with the wall 501 from a second, different direction D2. In this second illustrated impact scenario, the second direction D2 is 23 degrees from perpendicular to the wall 501. Thus, the tugboat 100 is shown in Figures 8 & 9 making angular contact. Force applied on first fender 102 is registered by force sensors S5, S6, which are both on the same side of central force sensor S I and on the same side of the tugboat 100. As indicated in Figure 10, the force sensors S5, S6 of the second sensor array 303 are activated similarly to force sensors S5, S6 of the first sensor array 302 during the angular contact being made in the second illustrated impact scenario of Figures 8 & 9.

[0077] The sensor assembly 301 is configured to determine where an applied force is being detected. In other words, the sensor assembly 301 is configured to determine a location of a force sensor S detecting the application of a force. The determination of a location within the sensor assembly of a force sensor S detecting the application of a force indicates a region of the sensor assembly in which an applied force is detected and, in turn, a region of the respective fender in which an applied force is detected. Thus, in the present illustrated example, the sensor array 301 determining a location of application of a force provides information as to where contact between the fender arrangement and another body is made.

[0078] Preferably, the sensor array 301 is also configured to determine an extent of the applied force being detected. The determination of an extent of an applied force may indicate a magnitude of force, which may in an example be a numerical value of a unit of force. A determination of an extent of an applied force may indicate that a predetermined threshold magnitude of force has been exceeded. This information may be used to raise an alarm or to log an alert.

[0079] In an embodiment, the sensor array 301 is configured to determine a direction of an applied force. In an example, the determination of a direction of a detected applied force indicates a direction that the detected force is being applied relative to the sensor assembly and, in turn, a respective fender. Thus, in the present illustrated example, the sensor array 301 determining a direction of application of a force enables provides information as to direction in which contact between the fender arrangement and another body is made.

[0080] By using the sensor assembly 301 and observing the forces and position of force detected by the force sensors S thereof, damage (such as that described with reference to Figure 2) may be prevented. Thus, the sensor assembly 301 is usable to improve safety, in particular during manoeuvring of a watercraft.

[0081] Features of an example sensor assembly 1 101 according to the present invention will now be described with reference to Figures I I & 12. Referring initially to Figure I I , as shown, the sensor assembly 1 101 comprises connected arrays of sensors I 102- 1 105. The sensor assembly 1 101 comprises a pair of outer flexible layers 1 106, I 107, between which an inner flexible layer I 108 is disposed, and the sensor arrays I 102- 1 105 are disposed between one of the outer flexible layers 1 106, 1 107 and the inner flexible layer I 108.

[0082] According to this illustrated example, each sensor array I 102- 1 105 comprises a plurality of force pads and a plurality of strain gauges, all disposed on a sensor backing. An exploded view of sensor array I 105 is shown, in which it can be seen that force pads I 109- 1 I I I are alternated with strain gauges 1 1 12, 1 1 13 upon sensor backing 1 1 14. According to this illustrated example, each other sensor array I 102- 1 104 is like sensor array I 105. According to this illustrated example, the first and second outer flexible layers 1 106, I 107, are rubber sheets and the inner flexible layer I 108 is a rubber sheet that is profiled to provide space / an air gap for each of the strain gauges to operate in. According to this illustrated example, the sensor backing I 14 is a stainless steel sheet, to which the force pads and strain gauges are bonded, and which in turn is bonded to the inside of one 1 107 of the pair of outer flexible layers 1 106, I 107. The other 1 106 of the pair of outer flexible layers 1 106, 1 107 functions to cover and protect the components sandwiched between the pair of outer flexible layers 1 106, I 107. It is to be appreciated that the sensor assembly, and any individual layer or other component thereof, may comprise any suitable material or materials.

[0083] Referring now to Figure 12, the sensor assembly 1 101 comprises a controller, indicated at 1201 , for controlling the sensor arrays I 102- 1 105. The controller 1201 is connected to each of the sensor arrays I 102- 1 105, as indicated by conductors 1202, for controlling the taking of measurements of force exerted on the sensors thereof.

[0084] The controller 1201 may comprise at least a central processing unit 1203, memory 1204, power resource 1205, input / output interface 1206, and communication module 1207. The central processing unit 1203 is configured for execution of commands, for processing of sensor data received from the sensor arrays I 102- 1 105 and for overall control of the other hardware of the controller 1201. The memory 1204 is configured as read / write memory for non-volatile storage of at least sensor data received from the sensor arrays I 102- 1 105. The power resource 1205 may be configured to supply power to the sensor arrays I 102- 1 105 from, for example and not limited to: mains power, a battery resource, mains power, or solar power system. The input / output interface 1206 is operable at least for the upload and download of data from memory 1204. The input / output interface 1206 may control charging of a battery of the power resource 1205. The input / output interface 1206 may allow connection of peripheral devices to the controller 1201 , for example but not limited to: via a Universal Serial Bus (USB) connection. The communication module 1207 may be configured to communication with an electronic device 1208 via a wired connection, indicated at 1209 and / or via a wireless connection, indicated at 1210. Wireless communication may be via any suitable wireless telecommunication network, for example, via WiFi, Bluetooth, GPRS (General Packet Radio Service), or Global System for Mobile Communications (GSM).

[0085] The sensor assembly, and sensors thereof, may be installed in any suitable way. The sensor assembly may be retrofittable to, or relative to, a fender or fenders, using, for example but not limited to, any one or more of: adhesive, mechanical fixings, physical restraints (for example, straps). The sensor assembly may alternatively be provided as original equipment, with sensors installed in or on a fender of a fender arrangement.

[0086] In Figures 3-10, the force sensors are indicated to be located on exterior surfaces of the fenders; however, alternative positioning of a force sensor relative to a fender is possible, examples of which will now be described with reference to Figures 13-16.

[0087] In Figures I 3 & 14, a force sensor 1301 is shown associated with a fender 1302 that has an exterior surface 1303 and a hollow core 1304 that is bounded by an interior surface 1305 of the fender 1302. A first positioning of the force sensor 1301 relative to the fender 1302 is shown in Figure 13, in which the force sensor 1301 is located against the interior surface 1305 of the fender 1302. A second, different positioning of the force sensor 1301 relative to the fender 1302 is shown in Figure 1 , in which the force sensor 1301 is embedded in the fender 1302, located within the material of the fender 1302 between the exterior surface 1303 and the interior surface 1305 thereof. The illustrated arrangement of Figure 14 is an example of how a fender can be provided with a force sensor of the present invention during production of the fender (as original equipment rather than as a retrofit option). According to the specific illustrated example of Figures 13 & 14, the fender 1302 is generally circular in cross-section, with the hollow core 1304 also generally circular in cross-section; a circular annulus being defined by the exterior and interior surfaces 1305, 1303.

[0088] In Figure I 5, a force sensor 1501 is shown associated with a fender 1502 that has an exterior surface 1503 and a hollow core 1504 that is bounded by an interior surface 1505 of the fender 1502. The force sensor 1501 is shown located against the interior surface 1505 of the fender 1502. According to the specific illustrated example of Figure 15, the fender 1502 is generally D-shaped in cross-section, with the hollow core 1504 also being generally D-shaped in crosssection, and the fender 1502 having a substantially constant thickness between its exterior and interior surfaces 1505, 1503.

[0089] Thus, comparing the example shown in Figure 15 with that shown in Figure 13, there is a difference between the shapes of the fenders 1302, 1502 (D-shaped and O-shaped in crosssection respectively) but a similar positioning of the force sensor 1301 , 1401 relative to the fender 1302, 1502.

[0090] In Figure 16, a first force sensor 1601 and a second force sensor 1602 are shown associated with a fender 1603 that has an exterior surface 1604 and a first hollow channel 1605 that is bounded by an interior surface 1606 of the fender 1603 and a second hollow channel 1607 that is bounded by an interior surface 1608 of the fender 1603. The first force sensor 1601 is shown located against the interior surface 1606 of the fender 1603 and the second force sensor 1602 is shown located against the interior surface 1608 of the fender 1603. According to the illustrated example of Figure 1 , the fender 1603 is generally W-shaped in cross-section, with the first and second hollow channels 1604, 1605 extending substantially parallel to one another, in the length direction L, of the fender 1603, and being a generally triangular-shaped in cross-section (in the specific example shown, the hollow channel cross-sectional shape being generally isosceles-triangular with a rounded apex angle).

[0091] The present invention enables monitoring of the first touch area and the position on the fender vs the position on the vessel hull, and enables a tug master to receive, and utilise, data that supports improved decision making and facilitates the offering of a continuous force at an agreed level during the berthing and manoeuvring operation. Detected loads may be used to calculate the force required to apply a constant load to the berthing vessel and to assist in the prevention of hull damage that can be caused if unnecessary force is exerted.

[0092] Environmental impact can also be affected by excessive engine thrust being used. The present invention enables a tug master to manage the thrust vs the force, providing for a reduction in emissions, in turn reducing greenhouse gas emissions and making the operation more environmentally friendly. By arranging the sensors / sensor arrays of the sensor assembly on a watercraft, with appropriate association with one or more fenders, the sensor assembly will be usable to identify at least one of the following: presence of load on fender, location / position of load on fender, extent of load on fender.

[0093] By arranging the sensors / sensor arrays of the sensor assembly on a watercraft, with appropriate association with one or more fenders, and utilising additional data processing, the sensor assembly may be usable to identify one or more of the following: surface area of force, impact area, constant force on fender, angle of force on fender, engine thrust vs load on impact point.

[0094] Figures 17-20 show a sensor assembly, indicated generally at 1701, arranged for use with a fender 1702, the sensor assembly 1701 for sensing a force applied to the fender 1702. According to the present example, the fender 1702 is usable on a berthing structure 1700. The fender 1702 is shown in Figures 17, 18 & 20 mounted to the berthing structure 1700.

[0095] The sensor assembly 1701 comprises an array of force sensors S, indicated generally at 1801 , each force sensor S of the array of force sensors 1801 for sensing an applied force, and a controller, indicated generally at 2001 , for controlling the force sensors S of the array of force sensors 1801.

[0096] In this example, the array of force sensors 1801 of the sensor assembly 1701 comprises force sensors S arranged in a matrix having at least a 2 x 2 configuration. According to this specific illustrated example, the array of force sensors 1801 comprises first, second, third and fourth force sensors S I -S4 that are arranged in a matrix having a 2 x 2 configuration. It is to be appreciated that the array of force sensors 1801 of sensor assembly 1701 may comprise a greater number of force sensors S in a matrix having a configuration greater than 2 x 2 (for example, but in no way limited to 3 x 3, 4 x 4, 2 x 4, 4 x 6). It is also to be appreciated that an array of force sensors of a sensor assembly as disclosed herein may comprise any suitable plural number of force sensors in any suitable arrangement. In other words, the arrangement the force sensors of an array of force sensors of the sensor assembly is not limited to a I x N matrix or an N x N matrix.

[0097] In the shown example, the fender 1701 comprises a substantially planar front face, indicated generally at 1703, formed by a plurality of sections, and each of the force sensors S I -S4 of the sensor assembly 1702 is positioned relative to a respective one of a corresponding plurality of sections 1901 - 1904. As shown, in this illustrated example, the sections 1901 - 1904 provided with the force sensors S I -S4 are located in a central region of the fender 1701. In this example, each of the sections 1901- 1904 borders two other of the sections 1901 -904, which together form a rectangular shape; in this example also the sections 1901 - 1904 have the same square shape and together form a square.

[0098] It is to be understood that more than one force sensor may be associated with a section of the fender. In an example, each of a plurality of sections of the fender may be provided with a respective one of a plurality of arrays of force sensor of the sensor assembly. It is to be understood that that sections of a fender that are associated with one or more force sensors of the sensor assembly may not be immediately adjacent one another, in other words two “sensing sections” may be spaced by a “non-sensing” section.

[0099] The fender 1701 is shown in Figure 20 within a fender arrangement, indicated generally at 2002, of berthing structure 1700. The berthing structure 1700 has a front wall 2003 and a length direction, indicated by arrow 2004. The fender 1701 is one of a series of like fenders, with additional fenders 170 I B- 170 I F (each respectively provided with a like sensor assembly I 702B- I 702F) shown, that are spaced along the front wall 2003 of the berthing structure 1700 in the length direction 2004. The controller 2001 of sensor assembly 1701 is arranged to control the force sensors of the sensor assembly of each other fender of the fender arrangement 2002. In other examples, the fender arrangement 2002 may comprise any suitable different plural number of fenders. In other examples, the fender arrangement 2002 may be one of a plurality of fender arrangements that the berthing structure 1700 is provided with. In examples in which the fender arrangement 2002 is one of a plurality of fender arrangements that the berthing structure 1700 is provided with, the controller 2001 of the fender arrangement 2002 may output data to a central controller, indicated at 2000, that one or more other controllers associated with one or more other fender arrangements of the plurality of fender arrangements also output data to. The apparatus for, and associated method of sensing, applied force on a fender as provided by the present invention provides considerable advantages in terms of safety, awareness and understanding. Current processes and operations are only best guess practices and theoretical modelling; by introducing using the present invention, the process and safety of operations will be enhanced significantly.

[0100] Although illustrative embodiments of the invention have been disclosed in detail herein, with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments and examples shown and that various changes and modifications can be effected therein by one skilled in the art without departing from the scope of the invention as defined by the appended claims.

Claims

Claims1 . A sensor assembly for sensing a force applied to a fender, the sensor assembly comprising: an array of force sensors, each force sensor of the array of force sensors for sensing an applied force, and a controller for controlling the force sensors of the array of force sensors.

2. The sensor assembly of claim I , functional to detect an instance of an applied force.

3. The sensor assembly of claim 2, functional to determine an extent of a detected applied force.

4. The sensor assembly of claim 2 or claim 3, functional to determine that a detected applied force exceeds a predetermined magnitude of force.

5. The sensor assembly of any one of claims 2 to 4, functional to determine a region of the sensor assembly in which an applied force is detected.

6. The sensor assembly of any one of claims 2 to 5, functional to determine a direction of a force applied to the sensor assembly.

7. The sensor assembly of any one of the preceding claims, the array of force sensors comprising at least one strain gauge.

8. The sensor assembly of any one of the preceding claims, the array of force sensors comprising at least one load cell.

9. The sensor assembly of any one of the preceding claims, the array of force sensors comprising at least one accelerometer.

10. The sensor assembly of any one of the preceding claims, further comprising: at least one additional array of force sensors, each force sensor of the or each additional array of force sensors for sensing an applied force, and a controller for controlling the force sensors of the array of force sensors.I I . The sensor assembly of any one of the preceding claims, wherein a communication module enabling wireless communication with a remote device is communicatively connected the controller.I 2. The sensor assembly of any one of the preceding claims, in which the force sensors of the or each array of force sensors are disposed on a sensor backing.I 3. The sensor assembly of any one of the preceding claims, in which the sensor assembly comprises a pair of outer flexible layers between which an inner flexible layer is disposed, and the or each array of force sensors is disposed between one of the outer flexible layers and the inner flexible layer.

14. A fender, comprising a sensor assembly as claimed in any one of claims I to 13 for sensing a force applied to the fender.I 5. The fender of claim 14, the fender having an exterior surface and a hollow core bounded by an interior surface of the fender.

16. The fender of claim 14, wherein the fender has a substantially planar front face.I 7. A fender arrangement, comprising: at least one fender, and a sensor assembly as claimed in any one of claims I to 13, the sensor assembly positioned relative to the at least one fender for sensing a force applied to the at least one fender.

18. The fender arrangement of claim 17, in which the fender arrangement is for use on a watercraft.

19. The fender arrangement of claim 18, in which the array of force sensors of the sensor assembly comprises force sensors are arranged in a linear series.

20. A watercraft comprising the fender arrangement of claim 18 or claim 19.

21. The fender arrangement of claim 17, in which the fender arrangement is for use on a berthing structure.

22. The fender arrangement of claim 21 , in which the array of force sensors of the sensor assembly comprises force sensors arranged in a matrix having at least a 2 x 2 configuration.

23. A berthing structure comprising the fender arrangement of claim 21 or claim 22.

24. A method of sensing a force applied to a fender of a watercraft or a berthing structure, comprising: providing the fender with a sensor assembly as claimed in any one of claims I to 13 positioned relative to the fender for sensing a force applied to the fender; and operating the sensor assembly to sense a force applied to the fender.

25. A method, comprising: providing a watercraft with a fender arrangement as claimed in claim 18 or claim 19; and operating the sensor assembly of the fender arrangement to sense a force applied to the at least one fender of the fender arrangement.

26. A method, comprising: providing a berthing structure with a fender arrangement as claimed in claim 21 or claim 22; and operating the sensor assembly of the fender arrangement to detect a force applied to the at least one fender of the fender arrangement.

27. The method of any one of claims 24 to 26, further comprising determining an extent of a detected applied force.

28. The method of claim 27, further comprising determining that a detected applied force exceeds a predetermined magnitude of force.

29. The method of any one of claim 24 to 28, further comprising determining a region of the fender arrangement in which an applied force is detected.

30. The method of any one of claims 24 to 29, further comprising determining a direction of a force applied to the sensor assembly.

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