Mooring system

Abstract

A mooring system (100) for mooring a vessel with mooring lines (2-1 to 2-6) comprises a plurality of winches (3-1 to 3-6) for winding in or unwinding the mooring lines (2-1 to 2-6), and a control device (5) for adjusting the tension of the mooring lines (2-1 to 2-6) by controlling the winches (3-1 to 3-6). While adjusting the tension of the mooring lines (2-1 to 2-6), the control device (5) increases the resistance of at least one winch (3-1 to 3-6) to unwinding the mooring lines (2-1 to 2-6) compared to the resistance of at least one other winch (3-1 to 3-6) to unwinding the mooring lines (2-1 to 2-6).

Description

Technical Field

[0001] The present invention relates to a mooring system for mooring a vessel.

Background Art

[0002] Vessels are equipped with winches for adjusting the length of mooring lines that moor the vessel to a quay or the like. The tension of the mooring lines connected to the vessel varies due to tidal currents, tide levels, wind, and the like. For this reason, conventionally, crew members patrol the moored vessel to check the state of the winches and operate the winches as necessary.

[0003] Patent Document 1 discloses a mooring line tension control system that is capable of loosening and rewinding a mooring line without directly operating a winch when the tension of the mooring line becomes excessive. In this mooring line tension control system, a control device calculates the tension of the mooring line based on the band tension measured by a load cell, and according to the calculated tension, releases a brake to pay out the mooring line or rewind the mooring line.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0005] However, Patent Document 1 mentioned above does not describe how to specifically control and realize the two functions required for a mooring system, namely adjustment of mooring line tension and maintenance of the vessel's position. That is, even though the tension of the mooring lines can be controlled, if a force exceeding the set value is simultaneously applied to a plurality of mooring lines, each mooring line will be paid out, which may cause the problem that the position of the vessel cannot be maintained.

[0006] The present invention has been made in view of the above, and aims to provide a mooring system that can achieve both adjustment of the tension of the mooring ropes and maintenance of the position of the vessel. [Means for solving the problem]

[0007] To solve the above-mentioned problems and achieve the objective, the present invention provides a mooring system for mooring a vessel with a mooring rope, comprising: a plurality of winches for winding up or unwinding the mooring rope; and a control device for adjusting the tension of the mooring rope by controlling the winches. A tension detection unit for detecting the tension of the mooring line, It is equipped with the control device, If the detected value of the mooring line tension meets the conditions based on a preset threshold, the control device adjusts the mooring line tension by targeting the winch corresponding to the detected value that meets the conditions. The resistance of at least one winch to the payout of the mooring line is higher than the resistance of at least one other winch to the payout of the mooring line. Furthermore, it is set to a value greater than the threshold used for paying out the mooring line. ru. [Effects of the Invention]

[0008] The mooring system according to the present invention has the effect of being able to adjust the tension of the mooring ropes and maintain the position of the vessel at the same time. [Brief explanation of the drawing]

[0009] [Figure 1] Diagram illustrating a method for mooring a vessel equipped with a mooring system according to Embodiment 1 of the present invention. [Figure 2] This figure shows the configuration of a mooring system according to Embodiment 1 of the present invention. [Figure 3] This figure shows the configuration of the winch in Embodiment 1 of the present invention. [Figure 4] This figure shows an example of the relationship between the tension detection value detected by the tension detection unit in Embodiment 1 of the present invention and the control content of the control device. [Figure 5] Flowchart illustrating an example of the operation of a mooring system according to Embodiment 1 of the present invention. [Figure 6] Flowchart illustrating an example of the operation of a mooring system according to a modified example 1 of Embodiment 1 of the present invention. [Figure 7]This figure shows an example of the patterns of the winch adjustment period and non-adjustment period in Embodiment 2 of the present invention. [Figure 8] A flowchart illustrating an example of the operation of a mooring system according to Embodiment 2 of the present invention. [Figure 9] A flowchart illustrating an example of the operation of a mooring system according to a modified example 1 of Embodiment 2 of the present invention. [Modes for carrying out the invention]

[0010] A mooring system according to an embodiment of the present invention will be described in detail below with reference to the drawings. However, this embodiment does not limit the present invention.

[0011] Embodiment 1. Figure 1 is an explanatory diagram of a mooring method for a vessel 1 equipped with a mooring system 100 according to Embodiment 1 of the present invention. In this embodiment, the vessel 1 is moored while floating on the water surface.

[0012] In this embodiment, winches 3-1 to 3-6 are installed on the vessel 1, and the vessel 1 is moored by fixing one end of the mooring lines 2-1 to 2-6, which are extended by each of the winches 3-1 to 3-6, to the ground. Hereinafter, when it is not necessary to distinguish between the mooring lines 2-1 to 2-6, they will simply be referred to as mooring line 2. Similarly, when it is not necessary to distinguish between the winches 3-1 to 3-6, they will simply be referred to as winch 3. In this embodiment, the vessel 1 is floating on the sea, and one end of the mooring line 2 is fixed to the quay.

[0013] Figure 2 shows the configuration of a mooring system 100 according to Embodiment 1 of the present invention. The mooring system 100 includes a plurality of winches 3-1 to 3-6, each corresponding to a plurality of mooring ropes 2-1 to 2-6, a plurality of tension detection units 4-1 to 4-6 that detect the tension of each of the mooring ropes 2-1 to 2-6, and a control device 5 that controls the mooring system 100. When it is not necessary to distinguish between the tension detection units 4-1 to 4-6, they are simply referred to as tension detection unit 4.

[0014] The winch 3 can adjust the tension of the corresponding mooring line 2 by winding or unwinding the corresponding mooring line 2 in accordance with an instruction from the control device 5. The tension detection unit 4 detects the tension of the corresponding mooring line 2, and outputs the detected tension value to the control device 5. The tension detection unit 4 includes a sensor that directly detects the tension of the mooring line 2. The sensor is, for example, a load cell, a strain gauge, or the like. The control device 5 adjusts the tension of the mooring line 2 by controlling the winch 3 based on the detected tension value output from the tension detection unit 4 and a preset threshold value. The control device 5 is, for example, a programmable logic controller (PLC: Programmable Logic Controller) in a control panel.

[0015] Figure 3 is a diagram showing the configuration of the winch 3 in Embodiment 1 of the present invention. The winch 3 has a drum 31 that winds the corresponding mooring line 2, a drive unit 32 that rotates the drum 31, and a brake 33 that stops the rotation of the drum 31. Note that Figure 3 is a diagram for explaining the basic configuration of the winch 3, and the winch 3 may include components other than those shown in Figure 3. For example, the winch 3 may be provided with an operation unit for manually operating the winch 3, or may be provided with a clutch unit that connects the drive unit 32 and the drum 31 and is freely attachable and detachable.

[0016] The winch 3 can adjust the tension of the corresponding mooring line 2 by driving the drive unit 32 to rotate the drum 31 in accordance with an instruction from the control device 5. When the drum 31 is rotated, the mooring line 2 is wound around the drum 31 or unwound from the drum 31 depending on the rotation direction of the drum 31. That is, the winch 3 can increase the tension of the mooring line 2 by winding the mooring line 2 around the drum 31 with a predetermined winding capacity, or decrease the tension of the mooring line 2 by unwinding the mooring line 2 from the drum 31.

[0017] The drive system of the drive unit 32 is not particularly limited. The drive unit 32 may be an electric drive unit that directly drives a mechanical part including a gear with an electric motor, or may be a hydraulic drive unit having a hydraulic circuit. In the present embodiment, one drive unit 32 rotates one drum 31. Although illustration is omitted, one mooring line 2 is wound around each drum 31. The type of the brake 33 is not particularly limited as long as it can stop the rotation of the drum 31 in accordance with the type of the drive unit 32. For example, when the electric drive unit 32 is used, the brake 33 is an electromagnetic brake, a band brake, a disc brake, or the like. For example, when the hydraulic drive unit 32 is used, the brake 33 is a band brake, a disc brake, or the like.

[0018] The control device 5 has an auto-tension function for adjusting the tension of the mooring line 2. There are a plurality of control systems for the auto-tension function, and in the present embodiment, the control shown in FIG. 4 is performed as an example of the auto-tension function. FIG. 4 is a diagram showing an example of the relationship between the detected tension value detected by the tension detection unit 4 in Embodiment 1 of the present invention and the control content of the control device 5. The control device 5 rotates the drum 31 of the winch 3 corresponding to the target mooring line 2 based on the detected tension value of the mooring line 2 detected by the tension detection unit 4, so as to wind or pay out the mooring line 2. That is, the control device 5 has the auto-tension function of adjusting the tension of the mooring line 2 by rotating the drum 31 of the winch 3 based on the detected tension value of the mooring line 2. The horizontal axis of FIG. 4 indicates the tension.

[0019] For example, if the tension detected by the tension detection unit 4 is less than the first threshold Th1, that is, in the example of Figure 4, the control device 5 rotates the drum 31 of the winch 3 corresponding to the mooring rope 2 to wind up the mooring rope 2 at a constant winding capacity Th3 or the first winding capacity f1. In this embodiment, the case in which the mooring rope 2 is wound up at a constant winding capacity Th3 is illustrated. Furthermore, if the tension detected by the tension detection unit 4 is greater than or equal to the first threshold Th1 and less than or equal to the second threshold Th2, that is, in the example of Figure 4, the control device 5 applies the brake 33 of the winch 3 corresponding to the mooring rope 2, or winds up the mooring rope 2 of the winch 3 corresponding to the mooring rope 2 at the second winding capacity f2. In this specification, "winding up the mooring rope 2 of the winch 3 with the second winding capacity f2" means not only actually rotating the winch 3 corresponding to the target mooring rope 2 in the winding direction with the second winding capacity f2, but also, in the case of an electrically operated winch 3 using an inverter, holding the winch 3 corresponding to the target mooring rope 2 without rotation while maintaining the second winding capacity f2. This embodiment exemplifies the case where the brake 33 of the winch 3 corresponding to the target mooring rope 2 is applied. Furthermore, when the tension detection value detected by the tension detection unit 4 exceeds the second threshold Th2, that is, in the example of Figure 4, when the tension detection value detected by the tension detection unit 4 exceeds 75%, the control device 5 rotates the drum 31 of the winch 3 corresponding to the target mooring rope 2 to unwind the mooring rope 2. The constant winding capacity Th3, the first threshold Th1, and the second threshold Th2 are set to the relationship Th1 ≤ Th3 ≤ Th2. The braking force is greater than a certain winding capacity Th3, a first threshold Th1, and a second threshold Th2. Note that the values ​​of the first threshold Th1 and the second threshold Th2 are not limited to the example in Figure 4 and may be changed as appropriate. When the tension is detected directly by the tension detection unit 4, the first threshold Th1 and the second threshold Th2 become the tension of the mooring rope 2.

[0020] As described above, the mooring system 100 can adjust the tension of each mooring rope 2 by the control device 5 rotating the drum 31 of the winch 3 based on the tension detected by the tension detection unit 4. The control device 5 adjusts the tension for each mooring rope 2 as shown in Figure 4. At this time, simply paying out the mooring rope 2 according to the tension is not enough to maintain the position of the ship 1 on the water. Now, the operation of the mooring system 100 for maintaining the position of the ship 1 on the water will be described. Figure 5 is a flowchart illustrating an example of the operation of the mooring system 100 according to Embodiment 1 of the present invention. In the following description, tension will be denoted as tension P.

[0021] First, when the power to the mooring system 100 is turned ON, in step S1, the tension detection unit 4 detects the tension P of the mooring rope 2 at regular intervals and outputs the detected tension P value to the control device 5. The regular interval is not particularly limited, but for example, it could be 1 minute or 5 minutes.

[0022] Next, the process proceeds to step S2. In step S2, the control device 5 determines, based on the detected tension P, whether the detected tension P is less than the first threshold Th1.

[0023] If the answer in step S2 is Yes, that is, if it is determined that the detected tension P is less than the first threshold Th1, the process proceeds to step S3. In step S3, the control device 5 sets the winch 3 corresponding to the mooring line 2 as the target for adjustment of tension P.

[0024] On the other hand, if the result in step S2 is No, that is, if it is determined that the detected tension P is greater than or equal to the first threshold Th1, the process proceeds to step S4. In step S4, the control device 5 determines, based on the detected value of tension P, whether or not the detected tension P exceeds the second threshold Th2.

[0025] If the answer in step S4 is Yes, that is, if it is determined that the detected tension P exceeds the second threshold Th2, the process proceeds to step S3. In step S3, the control device 5 sets the winch 3 corresponding to the mooring line 2 as the target for adjustment of tension P.

[0026] On the other hand, if the result in step S4 is No, that is, if it is determined that the detected tension P is less than or equal to the second threshold Th2, the process proceeds to step S5. In step S5, the control device 5 sets the winch 3 corresponding to the mooring line 2 to a non-adjustable target, meaning that the tension P will not be adjusted.

[0027] After proceeding to step S3 or step S5, the process proceeds to step S6. In step S6, the control device 5 determines whether all winches 3 are subject to adjustment.

[0028] If the answer in step S6 is Yes, that is, if it is determined that all winches 3 are subject to adjustment, the process proceeds to step S7. In step S7, the control device 5 sets at least one winch 3 as not subject to adjustment. Note that the winch 3 set as not subject to adjustment in step S7 would normally require adjustment of the tension P of the mooring line 2, but in order to prevent the position of the ship 1 from moving due to the simultaneous release of the mooring line 2 of all winches 3, the control device 5 exceptionally sets the winch 3 as the target for brake 33, prioritizing the maintenance of the ship 1's position. After proceeding to step S7, the process proceeds to step S8. In step S8, the control device 5 activates the auto-tension function of the winch 3 set as subject to adjustment. Also in step S8, the control device 5 applies the brake 33 to the winch 3 set as not subject to adjustment. Specifically, if all winches 3 are subject to adjustment, the control device 5 may apply the brake 33 to at least one pre-set winch 3, or it may apply the brake 33 to at least one winch 3 randomly selected from among multiple winches 3. After that, the process returns to step S1.

[0029] On the other hand, if the answer in step S6 is No, that is, if it is determined that none of the winches 3 are subject to adjustment, the process proceeds to step S8. In step S8, the control device 5 activates the auto-tension function of the winches 3 that have been set as subject to adjustment. Also in step S8, the control device 5 applies the brakes 33 to the winches 3 that have been set as not subject to adjustment. After that, the process returns to step S1.

[0030] The operations (processes) from step S1 to step S8 described above are repeated until the power to the mooring system 100 is turned OFF.

[0031] The control device 5 only needs to apply the brake 33 to at least one winch 3 while adjusting the tension P of the mooring line 2. Specifically, the control device 5 will apply the brake 33 to at least one winch 3 if the detected value of the tension P of the mooring line 2 satisfies the threshold-based condition (P<Th1、または、P> In the case of Th2, the tension P of the mooring rope 2 should be adjusted using the winch 3 corresponding to the detected value that satisfies the conditions. Furthermore, even if all winches 3 are subject to adjustment, the control device 5 only needs to apply the brake 33 to at least one winch 3. In other words, even if all winches 3 are subject to adjustment, the control device 5 only needs to apply the brake 33 to some of the multiple winches 3, so that there are winches 3 with the brake 33 applied and winches 3 with the brake 33 released. If the tension P of the mooring rope 2 with the brake 33 applied exceeds the braking force, the mooring rope 2 will be automatically released. Note that winches 3 that are pre-set to always have the brake 33 applied when all winches 3 are subject to adjustment are stored in the control device 5.

[0032] Furthermore, while the control device 5 is adjusting the tension P of the mooring line 2 (when all winches 3 are subject to adjustment), it may apply the brakes 33 to two or more winches 3, including the stern winches 3-1, 3-3, and 3-5, which are located closer to the stern than the bow, and the bow winches 3-2, 3-4, and 3-6, which are located closer to the bow than the stern. For example, when all winches 3 are subject to adjustment, the brakes 33 may be applied to the winches 3 of any group, such as the group of winches 3-1 and 3-2, the group of winches 3-3 and 3-4, and the group of winches 3-5 and 3-6. The winches 3 of the other groups are kept in an activated auto-tensioning state.

[0033] Next, the effects of the mooring system 100 according to Embodiment 1 will be described.

[0034] As shown in Figures 1 to 3, the mooring system 100 includes a plurality of winches 3 for winding in or unwinding the mooring rope 2, and a control device 5 that adjusts the tension P of the mooring rope 2 by controlling the winches 3. While adjusting the tension P of the mooring rope 2, the control device 5 increases the resistance of at least one winch 3 to unwinding the mooring rope 2 compared to the resistance of at least one other winch 3 to unwinding the mooring rope 2. Specifically, the mooring system 100 further includes a tension detection unit 4 for detecting the tension P of the mooring rope 2. Furthermore, if the detected value of the tension P of the mooring rope 2 satisfies a condition based on a preset threshold, the control device 5 adjusts the tension P of the mooring rope 2 by winding in or unwinding the mooring rope 2 with the winch 3 corresponding to the detected value that satisfies the condition as the adjustment target. In addition, even when all winches 3 are subject to adjustment, the control device 5 applies a brake 33 to at least one winch 3. As a result, even if a tension P is simultaneously applied to multiple mooring lines 2 that exceeds a set value (second threshold Th2) but is less than or equal to the braking force, at least one mooring line 2 corresponding to one winch 3 will not be paid out, and the position of the vessel 1 can be maintained. Therefore, a mooring system 100 can be provided that can adjust the tension P of the mooring lines 2 and maintain the position of the vessel 1 at the same time. Note that maintaining the position of the vessel 1 means maintaining the horizontal position of the vessel 1 on the water.

[0035] While adjusting the tension P of the mooring line 2, the control device 5 can apply brakes 33 to two or more winches 3, including stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern. This allows the brakes 33 to be applied evenly to the stern and bow sides of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0036] The mooring system 100 can suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, if the tension P detected by the winch 3 that operates the auto-tension function is less than a preset first threshold Th1, the mooring rope 2 is wound up with a first winding capacity f1, preventing excess mooring rope 2 from becoming entangled in the water. Also, if the tension P detected by the winch 3 that operates the auto-tension function exceeds a preset second threshold Th2, the mooring rope 2 is released, allowing the vessel 1 to move in the direction of gravity in accordance with the tides.

[0037] Next, a modified example of the mooring system 100 according to Embodiment 1 will be described.

[0038] In the above-described embodiment 1, the control device 5 was illustrated in which it adjusts the tension P of the mooring rope 2 using two thresholds, but the present invention is not limited to this example. The control device 5 may also adjust the tension P of the mooring rope 2 using one threshold Th. When adjusting the tension P using one threshold Th, the relationship between a constant winding capacity Th3 and the threshold Th is set to Th ≤ Th3. The control device 5 can control the mooring rope 2 to wind up the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 with a constant winding capacity Th3 if the detected value of the tension P of the mooring rope 2 is less than the threshold Th, and to unwind the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 if the detected value of the tension P of the mooring rope 2 is equal to or greater than the threshold Th. When adjusting the tension P using one threshold Th, the control device 5 may designate some of the multiple winches 3 as targets for braking and sequentially switch between the winches 3 that are targeted for braking. In this case, the control device 5 may apply the brakes 33 to two or more winches 3, including the stern winches 3-1, 3-3, and 3-5, which are located closer to the stern than the bow, and the bow winches 3-2, 3-4, and 3-6, which are located closer to the bow than the stern. For example, the winches 3 may be grouped into pairs, such as the group of winch 3-1 and winch 3-2, the group of winch 3-3 and winch 3-4, and the group of winch 3-5 and winch 3-6, and the winches 3 to be braked may be switched sequentially for each group. The winches 3 that are not to be braked will have their auto-tension function activated. Alternatively, the control device 5 may pre-determine and store in the control device 5 a winch 3 that will always have its brakes 33 applied, or it may apply the brakes 33 to at least one winch 3 randomly selected from among the multiple winches 3. The braking force is greater than a certain winding capacity Th3 and threshold Th.

[0039] Next, a modified example 1 of Embodiment 1, a mooring system 100, will be described. This modified example differs from Embodiment 1 described above in that, when all winches 3 are subject to adjustment, the mooring rope 2 of at least one winch 3 is wound up with a second winding capacity f2.

[0040] In this modified example, while the control device 5 is adjusting the tension P of the mooring rope 2, it winds the mooring rope 2 of at least one winch 3 at a preset constant winding capacity, which is the first winding capacity f1, and at a second winding capacity f2 that is greater than the threshold value. Specifically, when the detected value of the tension P of the mooring rope 2 satisfies a condition based on the threshold value (when P<Th1 or P>Th2), the control device 5 takes the winch 3 corresponding to the detected value that satisfies the condition as the adjustment target, and adjusts the tension P of the mooring rope 2 by winding or unwinding the mooring rope 2 at the first winding capacity f1 which is a preset constant winding capacity. That is, when the detected value of the tension P of the mooring rope 2 is less than the first threshold Th1, the control device 5 winds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 at the first winding capacity f1. Further, when the detected value of the tension P of the mooring rope 2 exceeds the second threshold Th2, the control device 5 unwinds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2. Thereby, the tension P of the mooring rope 2 can be adjusted. When the detected value of the tension P of the mooring rope 2 is equal to or greater than the first threshold Th1 and equal to or less than the second threshold Th2, the control device 5 winds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 at the second winding capacity f2. Then, even when all the winches 3 are subject to adjustment, the control device 5 winds the mooring rope 2 of at least one winch 3 at a preset constant winding capacity, which is the first winding capacity f1, and at a second winding capacity f2 that is greater than the second threshold Th2. That is, even when all the winches 3 are subject to adjustment, the control device 3 sets some of the plurality of winches 3 as winding targets to be wound at the second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2. Then, it is only necessary that there exist a winch 3 in a state of being wound at the second winding capacity f2 greater than the first winding capacity f1 and the second threshold Th2, and a winch 3 in a state of not being wound at the second winding capacity f2 greater than the first winding capacity f1 and the second threshold Th2 (a state of unwinding the mooring rope 2). When the tension P of the mooring rope 2 wound at the second winding capacity f2 exceeds the second winding capacity f2, the mooring rope is naturally unwound. The first winding capacity f1, the second winding capacity f2, the first threshold Th1, and the second threshold Th2 are set to satisfy the relationship of Th1≦f1≦Th2<f2.Furthermore, if all winches 3 are subject to adjustment, the control device 5 may wind the mooring line 2 of at least one pre-set winch 3 with a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2, or it may wind the mooring line 2 of at least one winch 3 randomly selected from among the multiple winches 3 with a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2. When all winches 3 are subject to adjustment, the control device 5 stores in the control device 5 any winches 3 that are pre-set to always wind with a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2.

[0041] Furthermore, while the control device 5 is adjusting the tension P of the mooring line 2 (when all winches 3 are subject to adjustment), it may wind the mooring line 2 of two or more winches 3, including the stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern, at a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2. For example, when all winches 3 are subject to adjustment, such as when winches 3 are grouped into pairs, like the group of winches 3-1 and 3-2, the group of winches 3-3 and 3-4, and the group of winches 3-5 and 3-6, the control device 5 may wind the mooring line 2 of the winch 3 of any of the groups at a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2. The winches 3 of the other groups are kept in an activated auto-tensioning state.

[0042] Next, the operation of the mooring system 100 according to Modification 1 of Embodiment 1 will be described. Figure 6 is a flowchart illustrating an example of the operation of the mooring system 100 according to Modification 1 of Embodiment 1 of the present invention.

[0043] The processes from steps S11 to S17 are the same as the processes from steps S1 to S7 in the first embodiment described above. In step S17, the winch 3 that is set as not to be adjusted would normally require adjustment of the tension P of the mooring rope 2, but in order to prevent a situation in which the mooring rope 2 of all winches 3 is unwound simultaneously and the position of the ship 1 moves, the process is prioritized to maintain the position of the ship 1 and it is exceptionally set as a target for winding with the second winding capacity f2. The process in step S18 differs from the process in step S8 in the first embodiment described above. If the answer in step S16 is Yes, that is, if it is determined that all winches 3 are targets for adjustment, the process proceeds to step S17 and then to step S18. In step S18, the control device 5 activates the auto-tension function of the winch 3 set as a target for adjustment. Specifically, if the detected value of the tension P of the mooring rope 2 is less than the first threshold Th1, the control device 5 winds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 with the first winding capacity f1. If the control device 5 detects that the tension P of the mooring rope 2 exceeds the second threshold Th2, it unwinds the mooring rope 2 from the winch 3 corresponding to the mooring rope 2 in question. Also, in step S18, the control device 5 winds up the mooring rope 2 of the winch 3 that has been set as not to be adjusted using the second winding capacity f2. Specifically, if all winches 3 are to be adjusted, the control device 5 may wind up the mooring rope 2 of at least one pre-set winch 3 using the second winding capacity f2, or it may wind up the mooring rope 2 of at least one winch 3 randomly selected from among multiple winches 3 using the second winding capacity f2. After that, the process returns to step S11.

[0044] On the other hand, if the answer in step S16 is No, that is, if it is determined that none of the winches 3 are subject to adjustment, the process proceeds to step S18. In step S18, the control device 5 activates the auto-tension function of the winches 3 that have been set as subject to adjustment. Also in step S18, the control device 5 winds up the mooring rope 2 of the winches 3 that have been set as not subject to adjustment with the second winding capacity f2. After that, the process returns to step S11.

[0045] Next, the effects of the mooring system 100 according to Modification 1 of Embodiment 1 will be described.

[0046] The mooring system 100 further includes a tension detection unit 4 for detecting the tension P of the mooring rope 2. The control device 5 adjusts the tension P of the mooring rope 2 by winding or unwinding the mooring rope 2 at a first winding capacity f1, which is a preset constant winding capacity, targeting the winch 3 corresponding to the detected value that satisfies the condition. Even if all winches 3 are subject to adjustment, the control device 5 winds the mooring rope 2 of at least one winch 3 at a second winding capacity f2, which is a preset constant winding capacity and is greater than the first winding capacity f1 and the second threshold Th2. As a result, even if a tension P exceeding a set value (second threshold Th2) and less than or equal to the second winding capacity f2 is applied to multiple mooring ropes 2 simultaneously, the position of the ship 1 can be maintained without the mooring rope 2 corresponding to at least one winch 3 being unwinded. Therefore, it is possible to provide a mooring system 100 that can adjust the tension P of the mooring rope 2 and maintain the position of the vessel 1 at the same time.

[0047] While the control device 5 adjusts the tension P of the mooring line 2, it is possible to wind the mooring line 2 from two or more winches 3, including the stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern, at a second winding capacity f2 that exceeds a set value (second threshold Th2). This allows the mooring line 2 from the winches 3 to be wound in a balanced manner on both the stern and bow sides of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0048] The mooring system 100 can suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, if the tension P detected by the winch 3 that operates the auto-tension function is less than a preset first threshold Th1, the mooring rope 2 is wound up with a first winding capacity f1, preventing excess mooring rope 2 from becoming entangled in the water. Also, if the tension P detected by the winch 3 that operates the auto-tension function exceeds a preset second threshold Th2, the mooring rope 2 is released, allowing the vessel 1 to move in the direction of gravity in accordance with the tides.

[0049] In this modified example, when adjusting the tension P using a single threshold Th, the relationship between the first winding capacity f1 and the threshold Th is set to Th ≤ f1. The control device 5 can control the system to wind the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 with the first winding capacity f1 if the detected tension P of the mooring rope 2 is less than the threshold Th, and to unwind the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 if the detected tension P of the mooring rope 2 is equal to or greater than the threshold Th. When adjusting the tension P using a single threshold Th, the control device 5 may designate some of the multiple winches 3 as targets for winding with the second winding capacity f2, and sequentially switch between the winches 3 that are the targets for winding. In this case, the control device 5 may wind up the mooring lines 2 of two or more winches 3, including the stern-side winches 3-1, 3-3, and 3-5, which are installed closer to the stern than the bow, and the bow-side winches 3-2, 3-4, and 3-6, which are installed closer to the bow than the stern, with a second winding capacity f2. For example, the winches 3 may be grouped into pairs, such as the group of winch 3-1 and winch 3-2, the group of winch 3-3 and winch 3-4, and the group of winch 3-5 and winch 3-6, and the winches 3 to be wound up may be switched sequentially for each group. The winches 3 that are not to be wound up are kept in a state where the auto-tension function is activated. Alternatively, a winch 3 that is set to always wind up the mooring rope 2 with a second winding capacity f2 greater than the first winding capacity f1 and threshold Th may be predetermined and stored in the control device 5, or the mooring rope 2 may be wound up by at least one winch 3 randomly selected from among multiple winches 3 with a second winding capacity f2 greater than the first winding capacity f1 and threshold Th.

[0050] Next, a modified example of Embodiment 1, specifically a mooring system 100, will be described. This modified example differs from Embodiment 1 described above in that, when adjusting the tension P of the mooring rope 2, the control device 5 controls only the winding of the mooring rope 2 with a preset constant winding capacity Th3, and does not control the unwinding of the mooring rope 2.

[0051] In this modified example, the control device 5 applies the brake 33 to at least one winch 3 while adjusting the tension P of the mooring line 2. Specifically, the control device 5 applies the brake 33 to at least one winch 3 if the detected value of the tension P of the mooring line 2 satisfies a threshold-based condition (P<Th1、または、P> In the case of Th2, the control device 5 winds the mooring rope 2 at a predetermined constant winding capacity Th3, using the winch 3 corresponding to the detected value that satisfies the conditions as the adjustment target. If the tension P of the mooring rope 2 exceeds the constant winding capacity Th3, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is automatically unwound. This allows the tension P of the mooring rope 2 to be adjusted. The constant winding capacity Th3, the first threshold Th1, and the second threshold Th2 are set to the relationship Th1 ≤ Th3 ≤ Th2. In addition, if the detected value of the tension P of the mooring rope 2 is greater than or equal to the first threshold Th1 and less than or equal to the second threshold Th2, the control device 5 applies the brake 33 to the winch 3 corresponding to the target mooring rope 2. Even if all winches 3 are subject to adjustment, the control device 5 applies the brake 33 to at least one winch 3. In other words, even when all winches 3 are subject to adjustment, the control device 5 only needs to have some of the winches 3 that are braked 33 and some winches 3 that are not braked 33, so that there are winches 3 with the brake 33 applied and winches 3 that are not braked 33. If the tension P of the mooring line 2 with the brake 33 applied exceeds the braking force, the mooring line 2 will be automatically released. When all winches 3 are subject to adjustment, the control device 5 may apply the brake 33 to at least one winch 3 that has been set in advance, or it may apply the brake 33 to at least one winch 3 that has been randomly selected from among the multiple winches 3. When all winches 3 are subject to adjustment, the winches 3 that have been set in advance to always have the brake 33 applied are stored in the control device 5. The braking force is greater than a certain winding capacity Th3, a first threshold Th1, and a second threshold Th2.

[0052] Next, the operation of the mooring system 100 according to a modified example 2 of Embodiment 1 will be described.

[0053] The operation of the mooring system 100 according to the modified example 2 of Embodiment 1 is generally the same as the flowchart in Figure 5 illustrating the operation of the mooring system 100 according to Embodiment 1. However, the processing of the auto-tension function in step S8 is different. Specifically, in step S8, the control device 5 winds up the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 with a constant winding capacity Th3, regardless of whether the detected value of the tension P of the mooring rope 2 is less than the first threshold Th1 or whether the detected value of the tension P of the mooring rope 2 exceeds the second threshold Th2. In the former case, the relationship Th1 ≤ Th3 holds, so the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is wound up with a constant winding capacity Th3. On the other hand, in the latter case, the relationship Th3 ≤ Th2 holds, so the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is naturally unwound.

[0054] Next, the effects of the mooring system 100 according to a modified example 2 of Embodiment 1 will be described.

[0055] The mooring system 100 further includes a tension detection unit 4 for detecting the tension P of the mooring rope 2. The control device 5, when the detected tension P of the mooring rope 2 meets a condition based on a preset threshold, adjusts the winch 3 corresponding to the detected value and winds the mooring rope 2 with a preset constant winding capacity Th3. Furthermore, if the tension P of the mooring rope 2 exceeds a certain winding capacity Th3, the mooring rope 2 of the winch 3 corresponding to the mooring rope 2 is automatically unwound. Even when all winches 3 are subject to adjustment, the control device 5 applies a brake 33 to the mooring rope 2 of at least one winch 3. This ensures that even when multiple mooring ropes 2 are simultaneously subjected to a tension P exceeding a set value (second threshold Th2) and less than or equal to the braking force, at least one mooring rope 2 corresponding to one winch 3 is not unwound, thus maintaining the position of the vessel 1. Therefore, the mooring system 100 can provide a system that can simultaneously adjust the tension P of the mooring rope 2 and maintain the position of the vessel 1.

[0056] While adjusting the tension P of the mooring line 2, the control device 5 can apply brakes 33 to two or more winches 3, including the stern winches 3-1, 3-3, and 3-5, which are located closer to the stern than the bow, and the bow winches 3-2, 3-4, and 3-6, which are located closer to the bow than the stern. This allows the mooring line 2 of the winches 3 to be braked 33 in a balanced manner at both the stern and bow ends of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0057] The mooring system 100 can suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, if the tension P detected by the winch 3 that operates the auto-tension function is less than a preset first threshold Th1, the mooring rope 2 is wound up at a constant winding capacity Th3, preventing excess mooring rope 2 from becoming entangled in the water. Also, if the tension P of the mooring rope 2 by the winch 3 that operates the auto-tension function exceeds a preset constant winding capacity Th3, the mooring rope 2 is automatically released, allowing the vessel 1 to move in the direction of gravity in accordance with the tides.

[0058] In this modified example, when adjusting the tension P using a single threshold Th, the relationship between a constant winding capacity Th3 and the threshold Th is set to Th ≤ Th3. The control device 5 can control the winch 3 corresponding to the target mooring line 2 to wind up the mooring line 2 with a constant winding capacity Th3 if the detected value of the tension P of the mooring line 2 is less than the threshold Th, or if the detected value of the tension P of the mooring line 2 is greater than or equal to the threshold Th and the tension P of the mooring line 2 is less than or equal to a constant winding capacity Th3. Winding up here includes the tension P of the mooring line 2 becoming equal to the constant winding capacity Th3, and holding the winch 3 corresponding to the target mooring line 2 without rotation with a constant winding capacity Th3. If the tension P of the mooring line 2 exceeds the constant winding capacity Th3, the mooring line 2 of the winch 3 corresponding to the target mooring line 2 will be automatically unwound. When adjusting the tension P using a single threshold Th, the control device 5 may designate some of the multiple winches 3 as targets for braking 33 and sequentially switch between the braked winches 3. In this case, the control device 5 may apply the brakes 33 to two or more winches 3, including the stern winches 3-1, 3-3, and 3-5, which are located closer to the stern than the bow, and the bow winches 3-2, 3-4, and 3-6, which are located closer to the bow than the stern. For example, the winches 3 may be grouped into pairs, such as the group of winch 3-1 and winch 3-2, the group of winch 3-3 and winch 3-4, and the group of winch 3-5 and winch 3-6, and the winches 3 to be braked may be switched sequentially for each group. The winches 3 that are not to be braked will have their auto-tension function activated. Alternatively, the control device 5 may pre-determine and store in the control device 5 a winch 3 that will always have its brakes 33 applied, or it may apply the brakes 33 to at least one winch 3 randomly selected from among the multiple winches 3. The braking force is greater than a certain winding capacity Th3 and threshold Th.

[0059] Next, a mooring system 100 according to a modification 3 of Embodiment 1 will be described. This modification differs from Embodiment 1 described above in that, when adjusting the tension P of the mooring rope 2, the control device 5 controls only the winding of the mooring rope 2 with a preset first winding capacity f1 and does not control the unwinding of the mooring rope 2. Furthermore, this modification differs from Embodiment 1 described above in that, when all winches 3 are to be adjusted, the mooring rope 2 of at least one winch 3 is wound with a second winding capacity f2.

[0060] In this modified example, while adjusting the tension P of the mooring rope 2, the control device 5 winds the mooring rope 2 of at least one winch 3 at a preset constant winding capacity, which is a first winding capacity f1 and a second winding capacity f2 greater than a threshold value. Specifically, when the detected value of the tension P of the mooring rope 2 satisfies a condition based on the threshold value (when P<Th1 or P>Th2), the control device 5 takes the winch 3 corresponding to the detected value that satisfies the condition as an adjustment target, and winds the mooring rope 2 at the first winding capacity f1 which is a preset constant winding capacity. When the tension P of the mooring rope 2 exceeds the first winding capacity f1, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is paid out naturally. Thereby, the tension P of the mooring rope 2 can be adjusted. Further, when the detected value of the tension P of the mooring rope 2 is equal to or greater than the first threshold value Th1 and equal to or less than the second threshold value Th2, the control device 5 winds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 at the second winding capacity f2. Even when all the winches 3 are subject to adjustment, the control device 5 winds the mooring rope 2 of at least one winch 3 at a preset constant winding capacity, which is the first winding capacity f1 and the second winding capacity f2 greater than the second threshold value Th2. That is, even when all the winches 3 are subject to adjustment, the control device 5 sets some of the plurality of winches 3 as winding targets to be wound at the second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold value Th2. Then, it is only necessary that there exist the winch 3 in a state of being wound at the second winding capacity f2 greater than the first winding capacity f1 and the second threshold value Th2, and the winch 3 in a state of not being wound at the second winding capacity f2 greater than the first winding capacity f1 and the second threshold value Th2 (a state of being wound at the first winding capacity f1). When the tension P of the mooring rope 2 wound at the second winding capacity f2 exceeds the second winding capacity f2, the mooring rope 2 is paid out naturally. The first winding capacity f1, the second winding capacity f2, the first threshold value Th1, and the second threshold value Th2 are set to satisfy the relationship of Th1≦f1≦Th2<f2.Furthermore, if all winches 3 are subject to adjustment, the control device 5 may wind the mooring line 2 of at least one pre-set winch 3 with a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2, or it may wind the mooring line 2 of at least one winch 3 randomly selected from among the multiple winches 3 with a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2. When all winches 3 are subject to adjustment, the control device 5 stores in the control device 5 any winches 3 that are pre-set to always be wound with a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2.

[0061] Furthermore, while the control device 5 is adjusting the tension P of the mooring line 2 (when all winches 3 are subject to adjustment), it may wind the mooring line 2 of two or more winches 3, including the stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern, at a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2. For example, when all winches 3 are subject to adjustment, such as when winches 3 are grouped into pairs, like the group of winches 3-1 and 3-2, the group of winches 3-3 and 3-4, and the group of winches 3-5 and 3-6, the control device 5 may wind the mooring line 2 of the winch 3 of any of the groups at a second winding capacity f2 that is greater than the first winding capacity f1 and the second threshold Th2. The winches 3 of the other groups are kept in an activated auto-tensioning state.

[0062] Next, the operation of the mooring system 100 according to the third modified example of Embodiment 1 will be described.

[0063] The operation of the mooring system 100 according to Modification 3 of Embodiment 1 is generally the same as the flowchart in Figure 6 illustrating the operation of the mooring system 100 according to Modification 1 of Embodiment 1. However, the processing of the auto-tension function in step S18 is different. Specifically, in step S18, the control device 5 winds up the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 with a first winding capacity f1, regardless of whether the detected value of the tension P of the mooring rope 2 is less than the first threshold Th1 or whether the detected value of the tension P of the mooring rope 2 exceeds the second threshold Th2. In the former case, since Th1 ≤ f1, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is wound up with the first winding capacity f1. On the other hand, in the latter case, since f1 ≤ Th2, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is unwound automatically.

[0064] Next, the effects of the mooring system 100 according to the modified example 3 of Embodiment 1 will be described.

[0065] The mooring system 100 further includes a tension detection unit 4 for detecting the tension P of the mooring rope 2. The control device 5 also adjusts the winch 3 corresponding to the detected tension P of the mooring rope 2, and winds the mooring rope 2 with a first winding capacity f1, which is a preset constant winding capacity, if the detected value of the mooring rope 2 satisfies a condition based on a preset threshold. If the tension P of the mooring rope 2 exceeds the first winding capacity f1, the mooring rope 2 of the winch 3 corresponding to the mooring rope 2 is automatically unwound. Furthermore, even if all winches 3 are subject to adjustment, the control device 5 winds the mooring rope 2 of at least one winch 3 with a second winding capacity f2, which is a preset constant winding capacity and is greater than the first winding capacity f1 and the second threshold Th2. As a result, even when a tension P exceeding a set value (second threshold Th2) and less than or equal to the second winding capacity f2 is simultaneously applied to multiple mooring lines 2, the position of the ship 1 can be maintained without at least one mooring line 2 corresponding to a winch 3 being released. Therefore, a mooring system 100 can be provided that can simultaneously adjust the tension P of the mooring lines 2 and maintain the position of the ship 1.

[0066] While the control device 5 adjusts the tension P of the mooring line 2, it is possible to wind the mooring line 2 from two or more winches 3, including the stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern, at a second winding capacity f2 that exceeds a set value (second threshold Th2). This allows the mooring line 2 from the winches 3 to be wound in a balanced manner on both the stern and bow sides of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0067] The mooring system 100 can suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, if the tension P of the mooring rope 2 of the winch 3 that operates the auto-tension function is less than a preset first threshold Th1, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is wound up with a first winding capacity f1, thus preventing excess mooring rope 2 from becoming entangled in the water. Also, if the tension P of the mooring rope 2 of the winch 3 that operates the auto-tension function exceeds a preset first winding capacity f1, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is automatically unwound, thus allowing the vessel 1 to move in the direction of gravity in accordance with the ebb and flow of the tide.

[0068] In this modified example, when adjusting the tension P using a single threshold Th, the relationship between the first winding capacity f1 and the threshold Th is set to Th ≤ f1. The control device 5 can control the winch 3 corresponding to the target mooring line 2 to wind up the mooring line 2 with the first winding capacity f1 if the detected value of the tension P of the mooring line 2 is less than the threshold Th, or if the detected value of the tension P of the mooring line 2 is greater than or equal to the threshold Th and the tension P of the mooring line 2 is less than or equal to the first winding capacity f1. Winding up here includes making the tension P of the mooring line 2 the same as the first winding capacity f1, and holding the winch 3 corresponding to the target mooring line 2 without rotation with the first winding capacity f1. If the tension P of the mooring line 2 exceeds the first winding capacity f1, the mooring line 2 of the winch 3 corresponding to the target mooring line 2 will be unwound automatically. When adjusting the tension P using a single threshold Th, the control device 5 may designate some of the winches 3 as targets for winding with a second winding capacity f2, and sequentially switch between the winches 3 targeted for winding. In this case, the control device 5 may wind the mooring lines 2 of two or more winches 3, including the stern winches 3-1, 3-3, 3-5, which are located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6, which are located closer to the bow than the stern, with the second winding capacity f2. As an example, winches 3 may be grouped into pairs, such as the group of winch 3-1 and winch 3-2, the group of winch 3-3 and winch 3-4, and the group of winch 3-5 and winch 3-6, and the winches 3 targeted for winding may be switched sequentially for each group. The winches 3 not targeted for winding are kept in a state where the auto-tension function is activated. Alternatively, a winch 3 that always winds the mooring rope 2 with a second winding capacity f2 greater than the first winding capacity f1 and threshold Th may be predetermined and stored in the control device 5, or the mooring rope 2 of at least one winch 3 randomly selected from among multiple winches 3 may be wound with a second winding capacity f2 greater than the first winding capacity f1 and threshold Th.

[0069] Embodiment 2. Next, the mooring system 100 according to Embodiment 2 will be described. The configuration of the mooring system 100 according to Embodiment 2 is the same as that of Embodiment 1 (see Figures 1 and 2). The configuration of the winch 3 according to Embodiment 2 is the same as that of Embodiment 1 (see Figure 3). In the following, this embodiment will describe the parts that differ from the mooring system 100 according to Embodiment 1, and the same reference numerals will be used for common parts and their descriptions will be omitted.

[0070] In Embodiment 1, the adjustment target was set based on the detected value of the tension P of the mooring rope 2 and a preset threshold, and even if all winches 3 are subject to adjustment, the brake 33 of at least one winch 3 is applied. In contrast, in this embodiment, the adjustment target is set at a predetermined timing for each winch 3, and the brake 33 of at least one winch 3 is applied. Furthermore, in Embodiment 1, the control device 5 was described as controlling the winding and unwinding of the mooring rope 2 based on the detected value of the tension P of the mooring rope 2 and a preset threshold. In contrast, in this embodiment, the control device 5 controls only the winding of the mooring rope 2 with a preset constant winding capacity Th3, and does not control the unwinding of the mooring rope 2. That is, when the tension P of the mooring rope 2 is reduced, in Embodiment 1, the control was performed to unwind the mooring rope 2 from the drum 31, but in this embodiment, only the control is performed to wind the mooring rope 2 by rotating the drum 31 with a constant winding capacity Th3, and the configuration allows the mooring rope 2 to be unwound when a tension P exceeding the constant winding capacity Th3 occurs.

[0071] Figure 7 shows an example of the adjustment and non-adjustment period patterns for winch 3 in Embodiment 2 of the present invention. In Figure 7, the convex portion of each horizontal line in the paper indicates the period during which each winch 3 is in the adjustment period, and the flat portion of each horizontal line in Figure 7 indicates the period during which each winch 3 is in the non-adjustment period. The control device 5 alternately switches between an adjustment period, in which the tension P of the mooring line 2 corresponding to the target winch 3 is adjusted, and a non-adjustment period, in which the brake 33 of the target winch 3 is applied, at predetermined timings for each winch 3. The timing of switching between the adjustment period and the non-adjustment period is predetermined so that at least one winch 3 is in the non-adjustment period while at least one other winch 3 is in the adjustment period. In the example in Figure 7, the period from time t1 to time t2 is the adjustment period, and winches 3-1 and 3-2 are subject to adjustment. The period from time t3 to time t4 is the adjustment period, and winches 3-3 and 3-4 are subject to adjustment. The period from time t5 to time t6 is an adjustment period, during which winches 3-5 and 3-6 are subject to adjustment.

[0072] During the adjustment period, the brake 33 of winch 3 is released, and the control device 5 adjusts the tension P of the mooring rope 2 by controlling winch 3. Specifically, the control device 5 winds up the mooring rope 2 corresponding to winch 3 during the adjustment period at a preset constant winding capacity Th3. That is, the control device 5 causes the mooring rope 2 to be wound up by rotating the drum 31 of winch 3 during the adjustment period at a preset constant winding capacity Th3. If the tension P of the mooring rope 2 is less than or equal to a threshold constant winding capacity Th3, the mooring rope 2 of winch 3 corresponding to the target mooring rope 2 is wound up at a constant winding capacity Th3. Winding up here includes the tension P of the mooring rope 2 becoming equal to the constant winding capacity Th3, and holding the winch 3 corresponding to the target mooring rope 2 without rotation with a constant winding capacity Th3. If the tension P of the mooring rope 2 exceeds a threshold constant winding capacity Th3, the mooring rope 2 of winch 3 corresponding to the target mooring rope 2 is automatically unwound. This allows the tension P of the mooring rope 2 to be adjusted. A constant winding capacity Th3 is less than the braking force. During the non-adjustment period, the brake 33 of the winch 3 is applied, and the control device 5 applies the brake 33 of the winch 3 by controlling the winch 3. This allows the position of the ship 1 to be maintained. If the tension P of the mooring rope 2 of the braked winch 3 exceeds the braking force, the mooring rope 2 is automatically released. In this embodiment, since it is not necessary to adjust the tension P of the mooring rope 2 based on the detected value of the tension P of the mooring rope 2, the mooring system 100 does not need to be equipped with a tension detection unit 4. In this specification, "releasing the mooring rope 2" includes not only controlling the winch 3 to release the mooring rope 2, but also the automatic release of the mooring rope 2 from the winch 3.

[0073] Here, we will describe the operation of the mooring system 100 for maintaining the position of the vessel 1 on the water. Figure 8 is a flowchart illustrating an example of the operation of the mooring system 100 according to Embodiment 2 of the present invention.

[0074] First, when the power to the mooring system 100 is turned ON, in step S21, the control device 5 alternately switches between an adjustment period, in which it adjusts the tension P of the mooring rope 2 corresponding to the target winch 3, and a non-adjustment period, in which it increases the resistance to the unwinding of the mooring rope 2 corresponding to the target winch 3, at predetermined timings for each winch 3, so that at least one winch 3 is in a non-adjustment period.

[0075] Next, the process proceeds to step S22. In step S22, the control device 5 applies the brake 33 to the winch 3 during the non-adjustment period.

[0076] Next, the process proceeds to step S23. In step S23, the control device 5 winds up the mooring rope 2 corresponding to the winch 3, which is in the adjustment period, with a predetermined constant winding capacity Th3.

[0077] Next, proceed to step S24. In step S24, if the tension P of the mooring rope 2 is less than or equal to a certain winding capacity (threshold) Th3 (if the answer is Yes in step S24), return to step S23.

[0078] On the other hand, if the tension P of the mooring rope 2 exceeds a certain winding capacity (threshold) Th3 in step S24 (the result is No in step S24), the process proceeds to step S25. In step S25, the mooring rope 2 corresponding to the winch 3, which is in the adjustment period, is automatically released.

[0079] Next, the process proceeds to step S26. In step S26, the control device 5 determines whether the adjustment period for the winch 3 has ended.

[0080] If, in step S26, the control device 5 determines that the adjustment period for the winch 3 has ended (if the answer is Yes in step S26), the process returns to step S21.

[0081] On the other hand, if in step S26 the control device 5 determines that the adjustment period for the winch 3 has not ended (the answer in step S26 is No), the process returns to step S23.

[0082] The operations (processes) from step S21 to step S26 described above are repeated until the power to the mooring system 100 is turned OFF.

[0083] The control device 5 alternates between adjustment periods and non-adjustment periods, and sequentially switches the winch 3 being adjusted during the adjustment period as part of the winches 3-1 to 3-6 of the mooring system 100. In addition, while some winches 3 are in the adjustment period, the control device 5 keeps at least one other winch 3 in a non-adjustment period with its brake 33 applied. While the control device 5 is adjusting the tension P of the mooring rope 2 (while some winches 3 are in the adjustment period), it may apply the brake 33 to two or more winches 3, including the stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern. In the example in Figure 7, winches 3 are grouped together in pairs, such as winches 3-1 and 3-2, winches 3-3 and 3-4, and winches 3-5 and 3-6. When one group of winches 3 is in adjustment mode, the brakes 33 are applied to the remaining two groups of winches 3. The braking force is greater than a certain winding capacity Th3.

[0084] Next, the effects of the mooring system 100 according to Embodiment 2 will be described.

[0085] As shown in Figures 1 to 3, the mooring system 100 includes a plurality of winches 3 for winding or unwinding the mooring rope 2, and a control device 5 that adjusts the tension P of the mooring rope 2 by controlling the winches 3. While adjusting the tension P of the mooring rope 2, the control device 5 increases the resistance of at least one winch 3 to unwinding the mooring rope 2 compared to the resistance of at least one other winch 3 to unwinding the mooring rope 2. Specifically, as shown in Figure 7, the control device 5 alternately switches between an adjustment period, in which the tension P of the mooring rope 2 corresponding to the target winch 3 is adjusted, and a non-adjustment period, in which the resistance to unwinding the mooring rope 2 corresponding to the target winch 3 is increased, at predetermined timings for each winch 3. The timing of switching between the adjustment period and the non-adjustment period is predetermined so that at least one winch 3 is in the adjustment period while at least one other winch 3 is in the non-adjustment period. As shown in Figure 8, the control device 5 winds the mooring rope 2 corresponding to the winch 3 in the adjustment period with a predetermined constant winding capacity Th3. When the tension P of the mooring rope 2 exceeds a certain winding capacity Th3 which is a threshold, the mooring rope 2 of the winch 3 corresponding to the mooring rope 2 is automatically unwound. The control device 5 applies the brake 33 to the winch 3 during the non-adjustment period. As a result, even if a tension P exceeding a set value (a certain winding capacity Th3) and less than or equal to the braking force is applied to multiple mooring ropes 2 simultaneously, at least one mooring rope 2 corresponding to one winch 3 will not be unwound, and the position of the ship 1 can be maintained. Therefore, a mooring system 100 can be provided that can adjust the tension P of the mooring rope 2 and maintain the position of the ship 1 at the same time.

[0086] While adjusting the tension P of the mooring line 2, the control device 5 can apply brakes 33 to two or more winches 3, including stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern. This allows the brakes 33 to be applied evenly to the stern and bow sides of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0087] The mooring system 100 makes it possible to suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, if the tension P of the mooring rope 2 of the winch 3 during the adjustment period is less than or equal to a preset winding capacity Th3, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is wound up at a constant winding capacity Th3, thus preventing excess mooring rope 2 from becoming entangled in the water. Also, if the tension P of the mooring rope 2 of the winch 3 during the adjustment period exceeds a preset winding capacity Th3, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is automatically released, thus allowing the vessel 1 to move in the direction of gravity in accordance with the ebb and flow of the tide.

[0088] Next, a modified example 1 of Embodiment 2 will be described. This modified example differs from Embodiment 2 described above in that the mooring rope 2 corresponding to the winch 3 during the non-adjustment period is wound up with a second winding capacity f2.

[0089] In this modified example, during the adjustment period, the brake 33 of the winch 3 is released, and the control device 5 adjusts the tension P of the mooring rope 2 by controlling the winch 3. Specifically, the control device 5 winds up the mooring rope 2 corresponding to the winch 3 during the adjustment period with a preset constant winding capacity, which is a first winding capacity f1. That is, the control device 5 causes the mooring rope 2 to be wound up by rotating the drum 31 of the winch 3 during the adjustment period with the first winding capacity f1. If the tension P of the mooring rope 2 is less than or equal to the threshold value of the first winding capacity f1, the control device 5 can control the winch 3 corresponding to the target mooring rope 2 to wind up the mooring rope 2 with the first winding capacity f1. Winding up here includes the tension P of the mooring rope 2 and the first winding capacity f1 becoming equal, and holding the winch 3 corresponding to the target mooring rope 2 without rotation with the first winding capacity f1. When the tension P of the mooring rope 2 exceeds a first winding capacity f1 which is a threshold, the mooring rope 2 of the winch 3 corresponding to the mooring rope 2 is automatically released. This allows the tension P of the mooring rope 2 to be adjusted.

[0090] During the non-adjustment period, the brake 33 of winch 3 is released, and the control device 5 controls winch 3 to increase the resistance to the payout of the mooring rope 2 corresponding to the target winch 3. Specifically, the control device 5 winds up the mooring rope 2 corresponding to winch 3 during the non-adjustment period with a preset constant winding capacity and a second winding capacity f2 that is greater than the first winding capacity f1. That is, the control device 5 causes the mooring rope 2 to be wound up by rotating the drum 31 of winch 3 during the non-adjustment period with the second winding capacity f2. This allows the position of the ship 1 to be maintained. If the tension P of the mooring rope 2 wound up with the second winding capacity f2 exceeds a threshold second winding capacity f2, the mooring rope 2 of winch 3 corresponding to the target mooring rope 2 is automatically paid out. In this modified example, since it is not necessary to adjust the tension P of the mooring rope 2 based on the detected value of the tension P of the mooring rope 2, the mooring system 100 does not need to be equipped with a tension detection unit 4.

[0091] The control device 5 alternates between adjustment periods and non-adjustment periods, and sequentially switches the winches 3 to be adjusted during the adjustment period, treating them as part of the winches 3-1 to 3-6 of the mooring system 100. In addition, while some winches 3 are in the adjustment period, the control device 5 ensures that at least one other winch 3 has wound up the mooring line 2 corresponding to that winch 3 at a second winding capacity f2 during the non-adjustment period. While the control device 5 is adjusting the tension P of the mooring line 2 (while some winches 3 are in the adjustment period), it may also wind up the mooring line 2 corresponding to two or more winches 3, including the stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern, at a second winding capacity f2.

[0092] Next, the operation of the mooring system 100 according to Modification 1 of Embodiment 2 will be described. Figure 9 is a flowchart illustrating an example of the operation of the mooring system 100 according to Modification 1 of Embodiment 2 of the present invention.

[0093] First, when the power to the mooring system 100 is turned ON, in step S31, the control device 5 alternately switches between an adjustment period, in which it adjusts the tension P of the mooring rope 2 corresponding to the target winch 3 at predetermined timings for each winch 3, and a non-adjustment period, in which it increases the resistance to the unwinding of the mooring rope 2 corresponding to the target winch 3, so that at least one winch 3 is in a non-adjustment period.

[0094] Next, the process proceeds to step S32. In step S32, the control device 5 winds up the mooring line 2 corresponding to the winch 3, which is in a non-adjustment period, with a second winding capacity f2.

[0095] Next, the process proceeds to step S33. In step S33, the control device 5 winds up the mooring rope 2 corresponding to the winch 3, which is the adjustment period, with a first winding capacity f1, which is a predetermined constant winding capacity.

[0096] Next, proceed to step S34. In step S34, if the tension P of the mooring line 2 is less than or equal to the first winding capacity f1 (threshold) (if Yes in step S34), return to step S33.

[0097] On the other hand, if the tension P of the mooring rope 2 exceeds the first winding capacity f1 (threshold) in step S34 (the result is No in step S34), the process proceeds to step S35. In step S35, the mooring rope 2 corresponding to the winch 3, which is in the adjustment period, is automatically released.

[0098] Next, the process proceeds to step S36. In step S36, the control device 5 determines whether the adjustment period for the winch 3 has ended.

[0099] If, in step S36, the control device 5 determines that the adjustment period for the winch 3 has ended (if the answer is Yes in step S36), the process returns to step S31.

[0100] On the other hand, if in step S36 the control device 5 determines that the adjustment period for the winch 3 has not ended (the result is No in step S36), the process returns to step S33.

[0101] The operations (processes) from step S31 to step S36 described above are repeated until the power to the mooring system 100 is turned OFF.

[0102] Next, the effects of the mooring system 100 according to Modification 1 of Embodiment 2 will be described.

[0103] The control device 5 alternately switches between an adjustment period, in which the tension P of the mooring line 2 corresponding to the target winch 3 is adjusted, and a non-adjustment period, in which the resistance to the unwinding of the mooring line 2 corresponding to the target winch 3 is increased, at predetermined timings for each winch 3. The timing of switching between the adjustment period and the non-adjustment period is predetermined so that at least one winch 3 is in the adjustment period while at least one other winch 3 is in the non-adjustment period. The control device 5 winds up the mooring line 2 corresponding to the winch 3 in the adjustment period with a first winding capacity f1, which is a predetermined constant winding capacity. If the tension P of the mooring line 2 exceeds the first winding capacity f1, which is a threshold, the mooring line 2 of the winch 3 corresponding to the target mooring line 2 is unwinded automatically. The control device 5 winds up the mooring line 2 corresponding to the winch 3 in the non-adjustment period with a second winding capacity f2, which is a predetermined constant winding capacity and is greater than the first winding capacity f1. As a result, even when a tension P is simultaneously applied to multiple mooring lines 2 that exceeds a set value (first winding capacity f1) and is less than or equal to the second winding capacity f2, the position of the ship 1 can be maintained without at least one mooring line 2 corresponding to a winch 3 being released. Therefore, a mooring system 100 can be provided that can simultaneously adjust the tension P of the mooring lines 2 and maintain the position of the ship 1.

[0104] While the control device 5 adjusts the tension P of the mooring line 2, it is possible to wind up the mooring line 2 from two or more winches 3, including the stern winches 3-1, 3-3, 3-5, which are located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6, which are located closer to the bow than the stern, with a second winding capacity f2. This allows the mooring line 2 from the winches 3 to be wound up in a balanced manner on both the stern and bow sides of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0105] The mooring system 100 makes it possible to suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, when the tension P of the mooring rope 2 of the winch 3 during the adjustment period is less than or equal to the first winding capacity f1, the mooring rope 2 is wound up at the first winding capacity f1, preventing excess mooring rope 2 from becoming entangled in the water. Also, when the tension P of the mooring rope 2 of the winch 3 during the adjustment period exceeds the first winding capacity f1, the mooring rope 2 of the winch 3 corresponding to the mooring rope 2 in question is automatically released, allowing the vessel 1 to move in the direction of gravity in accordance with the ebb and flow of the tide.

[0106] Next, a modified example 2 of Embodiment 2 of the mooring system 100 will be described. This modified example differs from Embodiment 2 described above in that, when adjusting the tension P of the mooring rope 2, the control device 5 controls the winding and unwinding of the mooring rope 2 based on the detected value of the tension P of the mooring rope 2 and a preset threshold.

[0107] During the adjustment period of this modified example, the brake 33 of the winch 3 is released, and the control device 5 adjusts the tension P of the mooring rope 2 by controlling the winch 3. Specifically, the control device 5 adjusts the tension P of the mooring rope 2 if it is during the adjustment period and the detected value of the tension P of the mooring rope 2 satisfies the conditions based on the threshold (P<Th1、または、P> In the case of Th2, the tension P of the mooring rope 2 is adjusted by winding or unwinding the mooring rope 2 corresponding to the winch 3 that is in the adjustment period and meets the conditions. That is, if the detected value of the tension P of the mooring rope 2 is less than the first threshold Th1, the control device 5 winds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 at a constant winding capacity Th3. Also, if the detected value of the tension P of the mooring rope 2 exceeds the second threshold Th2, the control device 5 unwinds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2. This allows the tension P of the mooring rope 2 to be adjusted. If the detected value of the tension P of the mooring rope 2 is greater than or equal to the first threshold Th1 and less than or equal to the second threshold Th2, the control device 5 applies the brake 33 of the winch 3 corresponding to the target mooring rope 2. The constant winding capacity Th3, the first threshold Th1, and the second threshold Th2 are set to the relationship Th1 ≤ Th3 ≤ Th2. The braking force is greater than a constant winding capacity Th3, a first threshold Th1, and a second threshold Th2.

[0108] During the non-adjustment period, the brake 33 of winch 3 is applied, and the control device 5 applies the brake 33 of the target winch 3 by controlling winch 3. This allows the position of the ship 1 to be maintained. If the tension P of the mooring line 2 of the braked winch 3 exceeds the braking force, the mooring line 2 of the winch 3 corresponding to the target mooring line 2 will be automatically released.

[0109] The control device 5 alternates between adjustment periods and non-adjustment periods, and sequentially switches the winches 3 to be adjusted during the adjustment period, treating them as part of the winches 3-1 to 3-6 of the mooring system 100. In addition, while some winches 3 are in the adjustment period, the control device 5 keeps at least one other winch 3 in a non-adjustment period with its brake 33 applied. While the control device 5 is adjusting the tension P of the mooring rope 2 (while some winches 3 are in the adjustment period), it may apply the brake 33 to two or more winches 3, including the stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern.

[0110] Next, the effects of the mooring system 100 according to a modified example 2 of Embodiment 2 will be described.

[0111] The mooring system 100 further includes a tension detection unit 4 for detecting the tension P of the mooring rope 2. The control device 5 alternately switches between an adjustment period, at predetermined timings for each winch 3, for adjusting the tension P of the mooring rope 2 corresponding to the target winch 3, and a non-adjustment period, for increasing the resistance to the unwinding of the mooring rope 2 corresponding to the target winch 3. The timing for switching between the adjustment period and the non-adjustment period is predetermined so that at least one winch 3 is in the adjustment period while at least one other winch 3 is in the non-adjustment period. The control device 5 adjusts the tension P of the mooring rope 2 by winding or unwinding the mooring rope 2 corresponding to the winch 3 that is in the adjustment period and whose detected tension P satisfies conditions based on a predetermined threshold, at a constant winding capacity Th3. As a result, even if a tension P exceeding a set value (second threshold Th2) and less than or equal to the braking force is applied simultaneously to multiple mooring ropes 2, the position of the ship 1 can be maintained without the mooring rope 2 corresponding to at least one winch 3 being unwinded. Therefore, it is possible to provide a mooring system 100 that can adjust the tension P of the mooring rope 2 and maintain the position of the vessel 1 at the same time.

[0112] While adjusting the tension P of the mooring line 2, the control device 5 can apply brakes 33 to two or more winches 3, including stern winches 3-1, 3-3, 3-5 located closer to the stern than the bow, and bow winches 3-2, 3-4, 3-6 located closer to the bow than the stern. This allows the brakes 33 to be applied evenly to the stern and bow sides of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0113] The mooring system 100 can suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, if the detected tension P of the mooring rope 2 of the winch 3 during the adjustment period is less than a preset first threshold Th1, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is wound up with a constant winding capacity Th3, preventing excess mooring rope 2 from becoming entangled in the water. Also, if the detected tension P of the mooring rope 2 of the winch 3 during the adjustment period exceeds a preset second threshold Th2, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is unwound, allowing the vessel 1 to move in the direction of gravity in accordance with the ebb and flow of the tide.

[0114] In this modified example, when adjusting the tension P of the mooring rope 2 using a single threshold Th, the relationship between a constant winding capacity Th3 and the threshold Th is set to Th ≤ Th3. The control device 5 can control the winch 3 to wind up the mooring rope 2 with a constant winding capacity Th3 if the detected tension P of the mooring rope 2 is less than the threshold Th, and to unwind the mooring rope 2 from the winch 3 corresponding to the mooring rope 2 if the detected tension P of the mooring rope 2 is greater than or equal to the threshold Th. The braking force is greater than both the constant winding capacity Th3 and the threshold Th.

[0115] Next, a mooring system 100 according to a modification 3 of Embodiment 2 will be described. This modification differs from Embodiment 2 described above in that, when adjusting the tension P of the mooring rope 2, the control device 5 controls the winding and unwinding of the mooring rope 2 based on the detected value of the tension P of the mooring rope 2 and a preset threshold. Furthermore, this modification differs from Embodiment 2 described above in that the mooring rope 2 corresponding to the winch 3 during the non-adjustment period is wound with a second winding capacity f2.

[0116] During the adjustment period of this modified example, the brake 33 of the winch 3 is released, and the control device 5 adjusts the tension P of the mooring rope 2 by controlling the winch 3. Specifically, the control device 5 adjusts the tension P of the mooring rope 2 if it is during the adjustment period and the detected value of the tension P of the mooring rope 2 satisfies the conditions based on the threshold (P<Th1、または、P> In the case of Th2, the control device 5 adjusts the tension P of the mooring rope 2 by winding in or unwinding the mooring rope 2 corresponding to the winch 3 that is in the adjustment period and meets the conditions. That is, if the detected value of the tension P of the mooring rope 2 is less than the first threshold Th1, the control device 5 winds in the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 at the first winding capacity f1. Also, if the detected value of the tension P of the mooring rope 2 exceeds the second threshold Th2, the control device 5 unwinds the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2. This allows the tension P of the mooring rope 2 to be adjusted. If the detected value of the tension P of the mooring rope 2 is greater than or equal to the first threshold Th1 and less than or equal to the second threshold Th2, the control device 5 winds in the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 at the second winding capacity f2.

[0117] During the non-adjustment period, the brake 33 of the winch 3 is in a released state, and the control device 5 controls the winch 3 to increase the resistance against the pay-out of the mooring line 2 corresponding to the target winch 3. Specifically, the control device 5 winds the mooring line 2 corresponding to the winch 3 that is in the non-adjustment period with a second winding capability f2 which is a preset constant winding capability and is larger than the first winding capability f1 and the second threshold Th2. That is, the control device 5 causes the mooring line 2 to be wound by rotating the drum 31 of the winch 3 in the non-adjustment period with the second winding capability f2. Thereby, the position of the vessel 1 can be maintained. When the tension P of the mooring line 2 wound with the second winding capability f2 exceeds the second winding capability f2 serving as a threshold, the mooring line 2 of the winch 3 corresponding to the target mooring line 2 is paid out naturally. The first winding capability f1, the second winding capability f2, the first threshold Th1, and the second threshold Th2 are set to satisfy the relationship of Th1≦f1≦Th2<f2.

[0118] The control device 5 alternately repeats the adjustment period and the non-adjustment period, and sequentially switches the winch 3 to be adjusted during the adjustment period as a part of the winches 3-1 to 3-6 included in the mooring system 100. In addition, while some of the winches 3 are in the adjustment period, the control device 5 causes at least one other winch 3 to wind the corresponding mooring line 2 with the second winding capability f2 during the non-adjustment period. While adjusting the tension P of the mooring line 2 (while some of the winches 3 are in the adjustment period), the control device 5 may wind the mooring lines 2 corresponding to two or more winches 3 including the stern-side winches 3-1, 3-3, 3-5 installed at positions closer to the stern than the bow and the bow-side winches 3-2, 3-4, 3-6 installed at positions closer to the bow than the stern, with the second winding capability f2.

[0119] Next, effects of the mooring system 100 according to Modification 3 of Embodiment 2 will be described.

[0120] The mooring system 100 further includes a tension detection unit 4 for detecting the tension P of the mooring rope 2. The control device 5 alternately switches between an adjustment period for adjusting the tension P of the mooring rope 2 corresponding to the target winch 3 and a non-adjustment period for increasing the resistance to unwinding the mooring rope 2 corresponding to the target winch 3 at predetermined timings for each winch 3. The timing for switching between the adjustment period and the non-adjustment period is predetermined so that at least one winch 3 is in the adjustment period while at least one other winch 3 is in the non-adjustment period. The control device 5 adjusts the tension P of the mooring rope 2 by winding or unwinding the mooring rope 2 corresponding to a winch 3 that is in the adjustment period and whose detected value of the tension P of the mooring rope 2 satisfies the conditions based on a predetermined threshold, using a first winding capacity f1 which is a predetermined constant winding capacity. The control device 5 winds the mooring rope 2 corresponding to a winch 3 that is in the non-adjustment period using a second winding capacity f2 which is a predetermined constant winding capacity and is greater than the first winding capacity f1 and the second threshold Th2. As a result, even when a tension P exceeding a set value (second threshold Th2) and less than or equal to the second winding capacity f2 is simultaneously applied to multiple mooring lines 2, the position of the ship 1 can be maintained without at least one mooring line 2 corresponding to a winch 3 being released. Therefore, a mooring system 100 can be provided that can simultaneously adjust the tension P of the mooring lines 2 and maintain the position of the ship 1.

[0121] While the control device 5 adjusts the tension P of the mooring line 2, it is possible to wind up the mooring line 2 from two or more winches 3, including the stern winches 3-1, 3-3, 3-5, which are located closer to the stern than the bow, and the bow winches 3-2, 3-4, 3-6, which are located closer to the bow than the stern, with a second winding capacity f2. This allows the mooring line 2 from the winches 3 to be wound up in a balanced manner on both the stern and bow sides of the vessel 1, thereby further enhancing the effect of maintaining the position of the vessel 1.

[0122] The mooring system 100 can suppress the horizontal movement of the vessel 1, thereby improving the efficiency and safety of cargo handling operations on the vessel 1. Furthermore, if the detected tension P of the mooring rope 2 of the winch 3 during the adjustment period is less than a preset first threshold Th1, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is wound up with a first winding capacity f1, preventing excess mooring rope 2 from becoming entangled in the water. Also, if the detected tension P of the mooring rope 2 of the winch 3 during the adjustment period exceeds a preset second threshold Th2, the mooring rope 2 of the winch 3 corresponding to the target mooring rope 2 is unwound, allowing the vessel 1 to move in the direction of gravity in accordance with the ebb and flow of the tide.

[0123] In this modified example, when adjusting the tension P using a single threshold Th, the relationship between the first winding capacity f1 and the threshold Th is set to Th ≤ f1. The control device 5 can control the winch 3 to wind up the mooring rope 2 with the first winding capacity f1 if the detected tension P of the mooring rope 2 is less than the threshold Th, and to unwind the mooring rope 2 from the winch 3 corresponding to the mooring rope 2 if the detected tension P of the mooring rope 2 is greater than or equal to the threshold Th. The second winding capacity f2 is greater than both the first winding capacity f1 and the threshold Th.

[0124] The present invention has been described above using embodiments, but the configurations shown in the embodiments are just examples, and may be combined with other known technologies, or parts of the configuration may be omitted or parts of the configuration may be changed without departing from the spirit of the invention.

[0125] For example, in Embodiment 1 and its modifications 1 to 3 and Embodiment 2 and its modifications 1 to 3 described above, for simplicity, the case where there are six mooring lines 2 is illustrated, but the present invention is not limited to such examples. The number of mooring lines 2 used to moor the vessel 1 may be 2 to 5, or 7 or more. The number of mooring lines 2 used to moor the vessel 1 is appropriately determined depending on the size of the vessel 1, the shape of the vessel 1, the conditions of the water area where the vessel 1 is located, etc.

[0126] Furthermore, in Embodiment 1 and its modifications 1 to 3, and modifications 2 and 3 of Embodiment 2, the tension detection unit 4 is exemplified as including a sensor that directly detects the tension P of the mooring rope 2, but the present invention is not limited to such examples. The tension detection unit 4 may include a sensor that measures a torque value whose value changes according to the tension P. In this configuration, the threshold value is the torque value whose value changes according to the tension P. The tension detection unit 4 may also include a sensor that measures the force applied to the brake 33 whose value changes according to the tension P. In this configuration, the threshold value is the force applied to the brake 33 whose value changes according to the tension P. Furthermore, the tension detection unit 4 in modifications 1 and 3 of Embodiment 1 and modification 3 of Embodiment 2 is not limited to the above-mentioned sensors and may include a sensor that measures a current value whose value changes according to the tension P. Specifically, the sensor of the tension detection unit 4 may measure the current value of the electric motor of the drive unit 32, and the tension detection unit 4 may calculate the tension P from the measured current value. In this configuration, the threshold value is a current value whose value changes according to the tension P. Furthermore, the tension detection unit 4 in modified examples 1 and 3 of Embodiment 1 and modified example 3 of Embodiment 2 is not limited to the above-described sensor and may include a sensor that measures the pressure of a hydraulic circuit whose value changes according to the tension P. Specifically, the sensor of the tension detection unit 4 may measure the pressure of the hydraulic circuit of the hydraulic drive unit 32, and the tension detection unit 4 may calculate the tension P from the measured pressure. In this configuration, the threshold value is the pressure of the hydraulic circuit whose value changes according to the tension P.

[0127] Furthermore, while Embodiment 1 and its modified versions 1 to 3, and Embodiment 2 and its modified versions 1 to 3 above illustrate the case where one drum 31 is rotated by one drive unit 32, the present invention is not limited to such examples. Multiple drums 31 may be rotated by one drive unit 32. In this case, since one mooring line 2 is wound around each drum 31, rotating multiple drums 31 with one drive unit 32 will result in the winding or unwinding of multiple mooring lines 2. In this case, in Embodiment 1 and its modified version 2 and modified version 2 of Embodiment 2 above, tension P may be detected from the torque value of the drive unit 32 or the force applied to the brake 33, or in modified versions 1 and 3 of Embodiment 1 above and modified version 3 of Embodiment 2 above, tension P may be detected from the torque value of the drive unit 32, current value, hydraulic pressure, or the force applied to the brake 33. In this case, even if the tension P is actually different for each mooring line 2, the control device 5 can assume that the tension P of each mooring line 2 is the same and adjust the tension P of the mooring lines 2 and maintain the position of the ship 1.

[0128] Furthermore, in Embodiment 1 and its modifications 1 to 3, and Embodiment 2 and its modifications 1 to 3, the control device 5 is a PLC in a control panel, but the present invention is not limited to such examples. The control device 5 is not limited to a control device that operates according to a ladder program, such as a PLC. The control device 5 may be a control circuit that operates according to a control program written in text using a programming language such as C language or Java®, or it may be a control circuit whose logic is built using a hydraulic system. [Explanation of symbols]

[0129] 1 ship 2,2-1,2-2,2-3,2-4,2-5,2-6 Mooring lines 3,3-1,3-2,3-3,3-4,3-5,3-6 winches 4,4-1,4-2,4-3,4-4,4-5,4-6 Tension detection unit 5 Control device 31 Drums 32 Drive unit 33 Brake 100 Mooring System

Claims

1. A mooring system for mooring a vessel with a mooring rope, Multiple winches for winding in or unwinding the aforementioned mooring rope, A control device that adjusts the tension of the mooring line by controlling the winch, A tension detection unit for detecting the tension of the mooring line, Equipped with, The control device is If the detected value of the tension of the mooring line satisfies a condition based on a preset threshold, the tension of the mooring line is adjusted with the winch corresponding to the detected value that satisfies the condition as the adjustment target. Even if all of the winches are subject to adjustment, the resistance of at least one winch to the payout of the mooring line is set to be higher than the resistance of the other at least one winch to the payout of the mooring line, and to a value greater than the threshold used for the payout of the mooring line. A mooring system characterized by the following features.

2. The control device is If the detected value of the tension of the mooring rope satisfies a condition based on a preset threshold, the tension of the mooring rope is adjusted by winding or unwinding the mooring rope with the winch corresponding to the detected value that satisfies the condition as the adjustment target. Even if all of the winches are subject to adjustment, apply the brake to at least one of the winches. The braking force is set to be greater than the threshold used for paying out the mooring line, The resistance of at least one of the winches to the payout of the mooring line is made higher than the resistance of the other at least one of the winches to the payout of the mooring line. The mooring system according to claim 1, characterized by the features described above.

3. The control device is If the detected value of the tension of the mooring rope satisfies a condition based on a preset threshold, the tension of the mooring rope is adjusted by winding or unwinding the mooring rope with a preset constant winding capacity, which is a first winding capacity, using the winch corresponding to the detected value that satisfies the condition as the adjustment target. Even if all of the winches are subject to adjustment, the mooring line of at least one of the winches is wound with a second winding capacity that is a predetermined constant winding capacity and is greater than the first winding capacity and the threshold used for unwinding the mooring line. The resistance of at least one of the winches to the payout of the mooring line is made higher than the resistance of the other at least one of the winches to the payout of the mooring line. The mooring system according to claim 1, characterized by the features described above.

4. The control device is If the detected value of the tension of the mooring rope satisfies a condition based on a preset threshold, the winch corresponding to the detected value that satisfies the condition is adjusted, and the mooring rope is wound up with a preset constant winding capacity. If the tension of the mooring line exceeds the certain winding capacity, the mooring line of the winch corresponding to the mooring line in question is unwound. The control device is Even if all of the winches are subject to adjustment, apply the brake to at least one of the winches. The braking force is set to be greater than the constant winding capacity and the threshold used for paying out the mooring line. The resistance of at least one of the winches to the payout of the mooring line is made higher than the resistance of the other at least one of the winches to the payout of the mooring line. The mooring system according to claim 1, characterized by the features described above.

5. The control device is If the detected value of the tension of the mooring rope satisfies a condition based on a preset threshold, the winch corresponding to the detected value that satisfies the condition is adjusted, and the mooring rope is wound up with a first winding capacity which is a preset constant winding capacity. If the tension of the mooring line exceeds the first winding capacity, the mooring line of the winch corresponding to the mooring line in question is unwound. The control device is Even if all of the winches are subject to adjustment, the mooring line of at least one of the winches is wound with a second winding capacity that is a predetermined constant winding capacity and is greater than the first winding capacity and the threshold used for unwinding the mooring line. The resistance of at least one of the winches to the payout of the mooring line is made higher than the resistance of the other at least one of the winches to the payout of the mooring line. The mooring system according to claim 1, characterized by the features described above.

6. A mooring system for mooring a vessel with a mooring rope, Multiple winches for winding in or unwinding the aforementioned mooring rope, A control device that adjusts the tension of the mooring line by controlling the winch, Equipped with, The control device is At predetermined timings for each winch, an adjustment period is alternately performed to adjust the tension of the mooring line corresponding to the winch in question, and a non-adjustment period is performed to increase the resistance to the unwinding of the mooring line corresponding to the winch in question. The timing for switching between the adjustment period and the non-adjustment period is predetermined such that at least one winch is in the adjustment period while at least one other winch is in the non-adjustment period. A mooring system characterized by the following features.

7. The control device winds up the mooring line corresponding to the winch during the adjustment period with a predetermined constant winding capacity. If the tension of the mooring line exceeds a certain winding capacity which is a threshold, the mooring line of the winch corresponding to the mooring line in question is unwound. The control device applies the brake to the winch during the non-adjustment period. The braking force is greater than the aforementioned constant winding capacity. The mooring system according to feature 6.

8. The control device winds the mooring line corresponding to the winch during the adjustment period with a first winding capacity which is a predetermined constant winding capacity. If the tension of the mooring line exceeds the first winding capacity which is a threshold, the mooring line of the winch corresponding to the mooring line in question is unwound. The control device winds the mooring line corresponding to the winch during the non-adjustment period with a second winding capacity that is a preset constant winding capacity and is greater than the first winding capacity. The mooring system according to feature 6.

9. The system further includes a tension detection unit for detecting the tension of the mooring rope, The control device adjusts the tension of the mooring line by winding in or unwinding the mooring line corresponding to the winch during the adjustment period and when the detected value of the tension of the mooring line satisfies the conditions based on a preset threshold. The control device applies the brake to the winch during the non-adjustment period. The braking force is greater than the aforementioned threshold. The mooring system according to feature 6.

10. The system further includes a tension detection unit for detecting the tension of the mooring rope, The control device adjusts the tension of the mooring line by winding or unwinding the mooring line corresponding to the winch, which is a first winding capacity that is a preset constant winding capacity, during the adjustment period and when the detected value of the tension of the mooring line satisfies the conditions based on a preset threshold. The control device winds the mooring line corresponding to the winch during the non-adjustment period with a preset constant winding capacity and a second winding capacity that is greater than the first winding capacity and the threshold. The mooring system according to feature 6.

11. While the control device is adjusting the tension of the mooring line, it increases the resistance of two or more winches, including a stern winch located closer to the stern than the bow and a bow winch located closer to the bow than the stern, to the payout of the mooring line, compared to the resistance of the other winches to the payout of the mooring line. A mooring system according to any one of claims 1 to 10.

12. The winch comprises a drum for winding up the mooring line and a drive unit for rotating the drum. The drive unit is either an electrically driven drive unit that directly drives the mechanical parts including gears with an electric motor, or a hydraulic drive unit that has a hydraulic circuit. A mooring system according to any one of claims 1 to 10.

13. The winch has an electromagnetic brake, a band brake, or a disc brake. A mooring system according to any one of claims 1 to 10.

14. The control device is a programmable logic controller in a control panel, a control board, a control circuit that operates according to a control program written in text using a programming language, or a control circuit whose logic is implemented by a hydraulic system. A mooring system according to any one of claims 1 to 10.

15. The tension detection unit includes sensors for measuring the tension of the mooring rope, a torque value that changes according to the tension, a force applied to the brake that changes according to the tension, a current value that changes according to the tension, or the pressure of the hydraulic circuit that changes according to the tension. A mooring system according to any one of claims 1 to 5, 9, or 10, characterized by the above.

16. The threshold value includes the tension of the mooring line, a torque value that changes in accordance with the tension, a force applied to the brake that changes in accordance with the tension, a current value that changes in accordance with the tension, or the pressure of the hydraulic circuit that changes in accordance with the tension. A mooring system according to any one of claims 1 to 5, 9, or 10, characterized by the above.

17. The threshold includes the winding capacity of the winch. The mooring system according to claim 4, 5, 7, or 8, characterized by the features described above.

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