Mooring devices and systems

Abstract

The invention relates to a mooring device for mooring a vessel. The mooring device has a moored state, in which it is engaged with a vessel, and an unmoored state, in which it is not engaged with a vessel. The mooring device comprises a base, a movable, extendable and retractable arm, a connector carried by the arm, for example for engaging with a vessel, a winch, a tensioning element having a first end engaged with the winch and an opposite second end fixed with respect to a second end of the arm and / or the connector, and a distance maintaining system configured for maintaining a minimum and non-zero distance between the base and an object engaged by the connector. According to the invention, the distance maintaining system is integrated in the movable arm. The invention also relates to a mooring system comprising two such mooring devices.

Description

[Technical field]

[0001] The present invention relates to a mooring device for mooring a vessel, and in particular to an automatic mooring device for mooring a vessel. More specifically, the present invention relates to a mooring device for mooring a vessel, the mooring device having a moored state in which it is engaged with the vessel and an unmoored state in which it is not engaged with the vessel, the mooring device comprising a base and a movable arm, the arm being fixed relative to the base at a first end and an opposite second end of the arm being movable relative to the base between a retracted position in which the second end is closer to the first end and an extended position in which the second end is further away from the first end, the arm and a connector carried by the arm. the connector having an engaged state, where it is engaged with an object for mooring, for example to the hull of a ship, and a disengaged state, where it is not engaged with the object; a winch; a tensioning element having a first end engaged with the winch and an opposite second end fixed relative to the second end of the arm and / or the connector; and a distance maintaining system configured for maintaining a distance between the base and the object engaged by the connector to a minimum, non-zero value.

[0002] Such a mooring device is known, for example, from "Mooring Devices for Ships with Vacuum Pads" (2009). Kim et al. propose a device (see FIG. 5) with a robotic arm for placing vacuum pads on the ship to be moored. After the vacuum pads are placed, cables pre-connected to the vacuum pads are used to pull the ship towards the mooring device or vice versa. In conventional methods, contact is avoided using fenders. The balance of forces between the cables, which pull the ship closer, and the fenders, which maintain a minimum distance, keeps the ship in place when it is moored.

[0003] The Kim et al. device has several disadvantages. For one, correctly placing the fenders along the vessels is very time consuming. Mooring between vessels can also be performed in fairly rough environments, so it is desirable to reduce the time required for mooring. In fact, every time spent between moorings poses a risk, since just before mooring is completed, the vessels are close to each other but not safely secured. Furthermore, the placement of the fenders can be quite difficult in itself.

[0004] Another disadvantage is that the fenders may not be large enough when mooring certain types of vessels, e.g. cruise ships. This may also be due to emergency lifeboats, which are often suspended overboard of cruise ships and provide an obstacle for mooring. More generally, to provide a safe mooring when objects are suspended from the vessel overboard, the distance to the vessel must be increased, e.g. to around 8 metres or more. This makes the use of fenders very impractical. [Prior art documents] [Non-patent literature]

[0005] [Non-Patent Document 1] Kim et al., A ship-to-ship automatic docking system for ocean cargo transfer, Journal of Marine Science and Technology, 2014, Vol.19, p.360-375 Summary of the Invention

[0006] The present invention therefore has as its object to at least partially reduce at least one of the above mentioned disadvantages.

[0007] This object is achieved by means of a mooring system as mentioned at the outset, which is characterized in that the distance maintaining system is integrated into a movable arm.

[0008] When the distance is maintained by such arms, fenders are no longer necessary. Therefore, mooring can be performed in a very short time, thereby increasing not only efficiency but also safety. Furthermore, since the arms can be made with suitable lengths, fairly long mooring distances can be achieved, for example a minimum of about 8 meters, which is necessary for mooring cruise ships.

[0009] It should be noted that the present invention is crucially different from the system proposed by Kim et al., which uses a robotic arm only to place vacuum pads on the vessel. The only distance maintaining system proposed by Kim et al. is a fender. This can be seen, for example, from FIG. 5, where the arm can only be extended by releasing a rope attached to the winch of the robotic arm, and the arm is moved outward under the force of gravity. Needless to say, such an outward movement is totally inadequate to maintain the vessel at distance, and a fender is required.

[0010] It is noted that the distance maintaining system is configured to maintain a trans-vessel or trans-ship distance between the moored vessel(s) and, for example, the wharf. As explained below, tensioning elements may be used to exert a force along the beam of the vessel, i.e. in the longitudinal direction of the hull. It is noted that the present invention can also be applied without tensioning elements and without winches. As an example, conventional separate tensioning elements may be used in such instances.

[0011] As another example, both the winch and the tensioning element may be replaced by providing a force in the longitudinal direction of the hull between the base and the connector. As a particular example of such means, in the following reference is made to actuation of the arm in the longitudinal direction of the hull by rotating it relative to the base about a vertical axis. Such actuation may optionally be performed by (additional) hydraulic cylinders. Throughout this application, the longitudinal direction of the hull is defined as the longitudinal direction of the hull of the vessel in the moored state, which corresponds to a horizontal transverse direction substantially perpendicular to the longitudinal direction of the arms.

[0012] Alternatively, multiple tensioning elements may be used, for example two tensioning elements, which may provide tension in opposite directions along the length of the hull, one forward and the other aft.

[0013] Although the distance maintaining mechanism has been described as maintaining the distance between the moored object, the distance maintaining mechanism may alternatively be described as maintaining the distance between the base and the second end of the arm or the distance between two opposite ends of the arm.

[0014] It should be noted that depending on the environmental conditions, the forces acting on the moored vessel can be in any direction. Therefore, the mooring device is preferably able to absorb forces in all different directions, but it is also possible that several mooring devices, for example of different types, are used to absorb forces cooperatively. In any case, the mooring devices described herein are able to provide a trans-hull pushing force, since this force is necessary to maintain a minimum distance to the vessel.

[0015] It is further noted that the vessel may be moored to another vessel, a wharf, etc., using a mooring device. It is primarily possible that the mooring device is located on either or both of the vessel and the other vessel or wharf, although it is envisaged that the mooring device will be located on the smaller of the two vessels when mooring vessels, or on the wharf when mooring a vessel to a wharf.

[0016] As an additional or alternative advantage of the mooring devices described herein, the arms are used to dampen the motions of the moored vessel while the vessel is moored. Fairly small motions, e.g. caused by waves, can be neutralised, at least to some extent, by the arms. Thus, the arms can be used to provide a damping force, which can keep the vessel motions within a given safety margin. To facilitate this damping, actuators and controllers can be provided for the arms, as described below, although other embodiments may exist.

[0017] In one embodiment of the mooring device, the distance maintaining system comprises at least one actuator for moving the movable arm, the arm being movable by means of the actuator, in particular being movable reversibly and / or controllably.

[0018] In certain embodiments, such an actuator may have one end fixed to a base and another opposite end fixed to an arm, the actuator being positioned to provide a pushing force between the base and the arm.

[0019] The actuator may thus be used to push the arm, and more particularly, the second end thereof, away from the base and / or first end of the arm, so that the arm may be used by the actuator to maintain a minimum transverse distance.

[0020] In some instances, the arms may also provide cross hull pulling force if required.

[0021] The actuator and at least one other actuator may be hydraulic actuators. Applicant has found that, contrary to previous belief, hydraulic actuation can provide sufficient force to withstand the very large forces involved in ship-to-ship mooring.

[0022] The distance maintaining system may include a controller operatively connected to the at least one actuator for controlling the at least one actuator, wherein in the tethered state, the controller is configured to control the arm by controlling the at least one actuator to maintain a distance between the first end and the second end of the arm.

[0023] A controller is used to actively control the arm in the tethered state. This control may be based on maintaining a predetermined distance between the first and second ends of the arm or between the base and the object. Of course, this predetermined distance may be defined as a level of movement, or as a range defining the minimum and maximum distance allowed.

[0024] To this end, the controller may be configured to - when necessary - control the arm to provide a pushing force. The controller may further be configured to - at other moments - control the arm to provide a pulling force. Preferably, the controller is therefore configured to selectively provide a pushing force and a pulling force, depending on what the situation requires.

[0025] The winch may optionally be an automatic winch, configured to maintain tension in the tensioning element at least in the mooring state.

[0026] An automatic winch is defined herein as a winch configured to, for example, release or tension a tensioning element according to a control algorithm to maintain sufficient but limited tension on the tensioning element. A winch may be configured to release a tensioning element if the tension on the tensioning element is too great. A winch may be configured to tension a tensioning element if it is slack.

[0027] The controller may further be operatively connected to the winch for controlling the winch. Thus, the arm and winch may be controlled in unison, i.e. cooperatively, so that optimal control may be obtained. In particular, cooperation between the pulling force provided by the winch and the partially opposing pushing force by the arm may be enabled. It is noted that cooperative control of the winch and the arm may help to prevent the use of excessive forces in the opposing directions.

[0028] The mooring device may include a position determination system operatively connected to the controller, the position determination system configured to determine a position of the second end of the arm and to communicate the determined position to the controller.

[0029] The determined position indicates the mutual position of the mooring device and the vessel and can therefore be used to effectively control the mooring device, in particular the position can be used to monitor the mutual distance.

[0030] It is noted that compensation may or may not be necessary when the mutual position of the mooring device and the vessel changes. Short-term movements of the vessel may have to be compensated for by providing an appropriate force in the opposite direction, although long-term movements do not need to be compensated for. It is noted that, as an example, if a difference in height occurs, for example due to (un)loading the vessel, the arms may be controlled to compensate for small deviations from the new mutual position, not from the old unaltered position, thereby taking into account the difference in height. In situations where the new position is not taken into account, compensation may lead to the use of excessive force or even damage to the mooring device and / or the vessel. Monitoring and controlling this position therefore helps to improve the safety of the mooring device.

[0031] For this or other purposes, the controller may be configured to control the winch based on the determined position of the arm.

[0032] It should be noted that in view of existing automated winches, this is a substantial advancement. Indeed, it has been found that existing automated winches are unable to account for long term movements, e.g. height differences during loading or unloading, which leads to failure of the associated tensioning elements. This failure can result in catastrophic damage to the vessel and, in worse cases, risk to the crew. Controlling the winch based on the position of the arm is therefore a significant advancement that can be applied to the mooring devices described herein.

[0033] Concurrently, or alternatively, the controller may be configured to control at least one actuator based on the determined position of the arm.

[0034] The compensation and position aware control described above can be achieved in this manner.

[0035] Although it is desirable to control the arm and / or winch based on the position of the arm, more particularly based on the position of its second end, other parameters may additionally or alternatively be used. In particular, movement parameters such as speed and acceleration are contemplated. Furthermore, it is contemplated that the force provided by the arm and / or tensioning element is measured by suitable sensors and input to the controller to enhance or enable control of the winch and / or arm.

[0036] The tensioning element may be brought to a fixed engagement position relative to the base, having a distance from the arm.

[0037] Thus, the arms may be used to provide a transverse force, while the tensioning elements may provide a longitudinal component of the force, for this purpose the tensioning elements may extend substantially in the length of the hull, for example at an obtuse and non-zero angle with respect to the longitudinal direction of the vessel, i.e. in a direction away from the mooring device along the quay or vessel on which the mooring device is located.

[0038] To provide tension along the length of the hull, the engagement location may be located at a distance along the length of the hull from the arm, i.e. further down the wharf or further along the length of the vessel.

[0039] The engagement position may be provided by an engagement element, which may be arranged to have a distance from the arm. The engagement element may be directly or indirectly connected to the base. Although it is possible to provide a movable engagement element, it is envisaged that both the base and the engagement element are fixed relative to their environment and thus relative to each other.

[0040] The engagement element may include a pulley disposed in the engagement position.

[0041] This pulley may be able to guide the tensioning element into the desired engagement position while the winch may be located elsewhere, thereby allowing a compact construction of the mooring device and / or making the winch easier to control.

[0042] In particular, the winch can be arranged closer to the arm than at the engagement position, thereby allowing a much easier connection of the winch to the controller and at the same time controlling the arm. In particular, the controller, whether it is controlling the arm or not, can be arranged in a housing arranged at the first end of the arm. This winch can be arranged without the same housing, in which case the pulley or other engagement element is arranged at a distance.

[0043] The connector may include a latching element for latching to a surface in an engaged state, and may include, for example, a vacuum pad or a magnetic anchoring pad.

[0044] The connection can be made at the desired location between the moored vessel by means of latching elements, for example without the need for tacking. In particular, the connection can be made with a surface of the vessel, for example with the outer surface of the hull. Suitable latching elements can be formed, for example, by using vacuum pads or magnetic mooring pads.

[0045] The latching element may be controllable to provide a latching force according to a control signal communicated from, for example, a controller.

[0046] The arm of the anchoring device may be rotatable relative to the base about two mutually orthogonal axes, both of which are perpendicular to a local axis of the arm at its first end.

[0047] A first of the mutually orthogonal axes extends substantially longitudinally of the hull, and a second of the mutually orthogonal axes extends substantially vertically.

[0048] Thus, in this embodiment, the arm can be tilted up and down, thereby rotating about the longitudinal axis of the hull, and swept left and right, thereby rotating about a vertical axis. As a result, the arm can be used to move the connection element in the longitudinal plane of the vertical hull. Movement of the arm in said plane can enable relative movement of the vessel and the mooring device and / or facilitate bringing the connection element into a suitable position on the vessel and / or moving the moored connection element to another position on the vessel. The latter is explained in more detail below.

[0049] This is particularly useful when the distance maintaining system is configured to actuate rotation of the arm about the two mutually orthogonal axes mentioned above, and optionally the actuators are operatively connected to the controller.

[0050] Thus, the connector can be used to move the arm in the vertical hull longitudinal plane. This can be particularly useful to move the connection element into position when mooring the vessel. When the vessel is moored, the movement of the arm can be used to allow the vessel to move but limit large movements.

[0051] Furthermore, actuators for rotation about a vertical axis, i.e. for sweeping the arm substantially laterally / horizontally, may be used to complement or replace the winch and tensioning element arrangement to limit longitudinal motion of the moored vessel. This advantage may be achieved if the arm is actuated to rotate about a vertical axis, but does not require rotation along the longitudinal axis of the vessel, nor does it require actuation about longitudinal motion of the vessel. Actuating rotation about a vertical axis is one example of a means for providing a force longitudinally of the vessel.

[0052] As the arms are actuated to sweep against the longitudinal movement of the hull, winches and tensioning elements are omitted and a particularly compact construction can be achieved, whereby the space utilisation around the base of the mooring device can be optimised.

[0053] Actuation of the rotation of the arm about the vertical axis can be achieved, for example, by a hydraulic (or alternatively pneumatic) cylinder arranged between the base and the connector. Joints, especially those that at least allow rotation about the vertical axis, are preferably arranged on either side of the cylinder. Alternative means of mounting the cylinder are also possible.

[0054] To improve the force transmission by the cylinder, a first end of the cylinder proximate the base may be attached to the base at a position offset laterally (i.e. horizontally away, perpendicular to the longitudinal direction of the arm, corresponding to the length of the hull) by a first distance, which may be at least several times the width of the arm in the same direction.

[0055] Alternatively or additionally, a second end of the cylinder, proximate the connector, may be attached to the connector at a position laterally offset by a second distance. This second distance may be smaller than the first distance. The second distance may be at least as large as the width of the arm in the same direction. For this purpose, a mounting frame may be provided on one side of the arm, this mounting frame carrying the joint to which the cylinder is connected.

[0056] An additional advantage, made possible for the first time by the mooring device described herein, is that the arms can be used together with additional mooring devices in order to move the connection element to other positions on the vessel. It is possible for a vessel to be moored with one mooring device while another is being moved. Thus, considerably larger vessel movements are possible, and thus these movements can be caused even while the vessel is moored.

[0057] A particularly important use case for this movement is post-mooring vessel alignment, i.e., vessel alignment while the vessel is moored, so alignment does not need to be performed before the vessel is moored, resulting in time savings and reduced risks.

[0058] The arm can be extended and retracted, i.e. its length can be increased or decreased by extending and retracting. The arm can be telescopic for this purpose. This extension and retraction can be hydraulically or otherwise powered. A suitable (hydraulic) actuator can be provided, which can optionally be operatively connected to a controller.

[0059] The invention also relates to a mooring system comprising at least two mooring devices according to any one of the preceding claims, the bases of which are fixed relative to one another or which share a common base.

[0060] An advantage of such a mooring system is that the tensioning elements of the at least two mooring devices can provide substantially opposing forces in the longitudinal direction of the vessel, while the arms provide a transverse force, such a mooring system can therefore provide forces in all required directions.

[0061] To facilitate the desired orientation, the tensioning elements of at least two of the mooring systems are brought into engagement positions on opposite sides of the arm.

[0062] As an alternative advantage of the mooring systems described herein, the arms can be used in combination to "walk" along the moored vessel, thus allowing the vessel to be moved relative to the mooring device, and more specifically relative to its base, whilst remaining safely moored.

[0063] To facilitate cooperation of at least two mooring devices, they may be operatively connected to be controlled cooperatively, which cooperative control may be provided to walk the arm along the moored vessel, so that the vessel can be moved whilst safely moored.

[0064] For this purpose, at least the arms of the mooring device may be controlled cooperatively, but it is also possible for the winches to be coordinately controlled relative to one another and / or relative to the arms.

[0065] Although the bases are fixed to one another using an anchoring device, it is generally possible for the bases to move relative to one another over time.

[0066] The invention will become more apparent from the following detailed description of the preferred embodiments, when taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0067] [Figure 1] FIG. 1 shows a schematic perspective view of two vessels moored using multiple mooring devices as described herein. [Diagram 2] FIG. 1 shows a schematic perspective view of two vessels moored using multiple mooring devices as described herein. [Diagram 3] FIG. 1 shows a schematic perspective view of two vessels moored using multiple mooring devices as described herein. [Figure 4] FIG. 1 shows a schematic perspective view of two vessels moored using multiple mooring devices as described herein. [Diagram 5] Another embodiment of such an anchoring device is shown diagrammatically.

[0068] In all drawings, like elements are referred to with like reference numbers.

[0069] The drawing shows a larger first vessel 1 and a smaller second vessel 2. The vessels 1, 2 are shown partially to allow showing more details of the mooring device 3 used to perform the vessel-to-vessel mooring of the vessels 1, 2. The mooring device 3 may alternatively be used to moor the vessel 1 to a wharf. The larger vessel 1 shown as an example here is a cruise ship. The cruise ship 1 has an outboard suspended emergency boat in its casing 4. Thus, a vessel 2 moored to the cruise ship 1, for example to supply goods or fuel to the cruise ship 1, may need to be moored at a considerable distance from the cruise ship 1 to prevent contact with the outboard suspended emergency boat in its casing 4. Of course, mooring at a considerable distance or with the mooring device 3 described here may also be necessary or desirable in other situations.

[0070] Details of the mooring devices 3 will be described with particular reference to FIG. 3, where reference numbers are provided, but the details can also be seen in the other figures. The mooring devices 3 each have a base 5 and a movable arm 6 extending therefrom. In this example, the movable arm is telescopic and can therefore be extended or retracted. The movable arm 6 has a first end 6A arranged in a revolute joint 7, by which the arm 6 can rotate relative to the base about a vertical axis, which is substantially parallel to the viewing axis of FIG. 3 and substantially perpendicular to the longitudinal axis AL of the hull and to the transverse axis AT of the hull. The rotation of the arm 6 in the revolute joint 7 is driven by an actuator (not shown), which is connected to a controller, which will be described below. The revolute joint 7 carries a hinge 8 which holds the first end 6A of the arm 6. The hinge 8 is arranged so that the arm 6 can pivot up and down, i.e. so that the arm 6 can rotate about the longitudinal axis AL of the hull. Pivotal movement about hinge 8 is powered by a hydraulic actuator 9 that extends approximately halfway along the arm 6 from the hinge 8 towards the arm 6. The hinge 8 is located in a fixed position relative to the base 5 so that the actuator 9 provides a pushing force, and in this example a pulling force, between the base 5 and the arm 6 to move the arm 6. The hydraulic actuator 9 is powered by a hydraulic pump (not shown) located within a housing 10. The housing 10 also contains a controller which controls the hydraulic system to control the actuator 9 to move the arm.

[0071] The movable arm 6 also has an opposite second end 6B which carries a connector 11, which for illustration purposes includes, by way of example, a vacuum pad 11. By means of the connector 11 a physical connection capable of transmitting forces may be formed between the arm 6 and the vessel 1. The connector 11 is engageable and disengageable and may be selectively engaged with the vessel 1. The connector 11 is located on the arm 6 by means of a joint 12 which allows suitable rotation of the connector 11 for attachment to a hull 13 of the vessel 1.

[0072] The tensioning element 14 is fixed to the second end 6B of the arm 6, but may alternatively be fixed, for example, to the connector 11. In all instances, the tensioning element 14 can pull the second end 6B of the arm 6. The mooring device 1 comprises a pulley 15 arranged at a distance in the hull length from the base 5 and at a distance from the arm 6. The tensioning element 14 is routed through the pulley to a winch (not shown) in the housing 10. The second end 6B of the arm 6 can thus be pulled towards the pulley, thereby providing tension to components in the hull length AL.

[0073] As shown in Figure 3, two mooring devices 1 are arranged together on the same base 5. The winches 15 and thus the tensioning elements 14 are arranged on opposite sides. The tensioning elements 14 thus provide opposing tensions to absorb and / or generate longitudinal forces and movements of the hull. On the other hand, the arms 6 can be used to generate or absorb transverse forces.

[0074] A controller in the housing 10 is also connected to the hydraulic actuator 9 and the winch. The controller controls the movement of the actuator and the winch to keep the vessel 1 safely in a moored position while the vessel 1 is moored. The position of the second end of the arm 6B is determined using an encoder and provided to the controller. The controller therefore commands the actuator and the winch to push the vessel 1 away as required and pull it towards the mooring device 1 as required. Of course, longitudinal force of the vessel is also provided by the winch, if required.

[0075] In Fig. 5 a similar mooring device 3 is shown. Again, the mooring device 3 has a base and a movable arm 6 with a first end 6A and a second end 6B. The details of the mooring device 3 of Fig. 5 are equivalent to those of Figs. 1-4 in so far as they are described herein, with the exception of the way in which it provides a force in the longitudinal direction AL of the hull. To this end, the device 3 of Fig. 5 comprises an actuator 16, in this example a hydraulic cylinder connected to a controller. The cylinder is engaged between two revolute joints (hinges) 20 and 21. Near the base, the actuator 16 is moved at a first distance d 1 while it is engaged with the connector 11 at a second distance d 2 Both of these distances are measured transversely or laterally, i.e. horizontally and perpendicular to the longitudinal direction of the arms. The first distance d 1 is the second distance d 2 The width w of the arm 6 in the same direction is also shown for comparison. At the second end 6B of the arm 6, a mounting frame 17 is provided for mounting the actuator 16. Similarly, a portion 18 of the casing 5 is a frame for mounting the actuator 16 at a first distance d from the arm. 1 An additional hinge 19 is provided to allow up and down movement of the actuator 16 relative to the arm 6.

[0076] It should be noted that while the present invention has been described using these examples and specific embodiments, it is not limited thereto, and indeed the present invention is also described by the appended claims.

Claims

1. 1. A mooring device for mooring a marine vessel, the mooring device having a moored state in which it is engaged with the marine vessel and an unmoored state in which it is not engaged with the marine vessel, the mooring device comprising: - a base; a movable arm, the arm being fixed at a first end relative to the base and an opposite second end of the arm being movable relative to the base between a retracted position in which the second end is closer to the first end and an extended position in which the second end is further away from the first end; a connector carried by said arm, said connector having an engaged state in which it is engaged with an object, for example for mooring to the hull of the vessel, and a disengaged state in which it is not engaged with said object; a distance maintaining system configured to maintain a minimum and non-zero distance between the base and the object engaged by the connector, A mooring device, characterized in that the distance maintaining system is integrated into the movable arm.

2. The mooring device of claim 1 further comprising means for providing a longitudinal force of a hull between the base and the connector.

3. 3. A mooring device as claimed in claim 2, wherein the means for providing a longitudinal force on the vessel includes an actuator for rotating the arm about a vertical axis.

4. The mooring device optionally comprises: - Winch, A tensioning element having a first end engaged by the winch and an opposite second end fixed relative to the second end of the arm and / or the connector.

5. The distance maintaining system comprises: An anchoring device according to any one of claims 1 to 4, comprising at least one actuator for moving said movable arm.

6. 6. The anchoring device of claim 5, further comprising an actuator having one end fixed to the base and another opposite end fixed to the arm, the actuator being positioned to provide a pushing force between the base and the arm.

7. The mooring device of claim 6 , wherein the actuator is a hydraulic actuator.

8. The distance maintaining system comprises: a controller operatively connected to the at least one actuator for controlling the at least one actuator; 8. The mooring device of claim 5, wherein in the moored state, the controller is configured to control the arm by controlling the at least one actuator to maintain a distance between the first end and the second end of the arm.

9. 9. A mooring device according to any one of claims 1 to 8, wherein the mooring device comprises a winch, the winch being an automatic winch configured to maintain tension in the tensioning element at least in the mooring state.

10. The controller: to the winch and / or to control the winch - for said means providing the longitudinal direction of said vessel for controlling said means, The anchoring device of claims 8 and 9 further operatively connected.

11. 11. The mooring device of claim 8, further comprising a position determination system operatively connected to the controller and configured to determine a position of the second end of the arm and communicate the determined position to the controller.

12. 12. A mooring device as claimed in claim 11, wherein the controller is configured to control the winch and / or the means for providing a force in the longitudinal direction of the hull based on the determined position of the arm.

13. 13. An anchoring device according to claim 11 or 12, wherein the controller is configured to control the at least one actuator based on the determined position of the arm.

14. 14. An anchoring device according to any one of claims 1 to 13, wherein the tensioning element is brought into an engaged position fixed relative to the base and having a distance from the arm.

15. The anchoring device of claim 14 , further comprising a pulley in the engaged position.

16. 16. A mooring device as claimed in claim 14 or 15, wherein the winch is positioned closer to the arm than in the engaged position.

17. 17. An anchoring device according to any one of claims 1 to 16, wherein the connector comprises a latching element, for example a vacuum pad or a magnetic anchoring pad, for latching to a surface in the engaged state.

18. 18. The anchoring device of any one of claims 1 to 17, wherein the arm is rotatable relative to the base about two mutually orthogonal axes, both perpendicular to a local axis of the arm at its first end.

19. 20. The mooring device of claim 18, wherein the distance maintenance system comprises an actuator configured to actuate rotation of the arm about the two mutually orthogonal axes, optionally the actuator operatively connected to the controller.

20. A mooring system comprising at least two mooring devices according to any one of claims 1 to 19, wherein the bases of the at least two mooring devices are fixed relative to each other or the at least two mooring devices share a base.

21. 21. A mooring system as claimed in claim 20, wherein tension elements of at least two of the mooring systems are brought into an engaged position on opposite sides of the arm.

22. 22. A mooring system according to any one of claims 20 to 21, wherein at least two of the mooring devices, in particular the movable arms thereof, are operatively connected for being controlled cooperatively.

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