Title:
流体船積みおよび／または荷揚げシステム用の制御装置
Document Type and Number:
Japanese Patent JP5882982
Kind Code:
B2
Abstract:
A marine loading arm comprising at least one fluid transfer line having a line end fixed to a base (21) and a moveable line end provided with a coupling (26) adapted for connection to a target duct (35), the coupling having at least three degrees of freedom (A, B, C) relative to the base and at least one member of the group coupling / target duct or a member immediately neighboring one at least of the members of the group coupling / target duct comprising at least one means (33, 34) for providing information on positioning of the coupling; and a control device (1) for the movement and positioning of the coupling (26), comprising at least three actuators (27, 28, 29) each for controlling the movement of the system in a degree of freedom, wherein each actuators consists of an electric motor and is provided at an articulation of the loading arm providing one of the degrees of freedom, the control device furthermore comprising calculating means (41) adapted to:
calculate the relative positioning of the coupling directly relative to the target duct according to the information provided by the positioning information means of the coupling,
calculate control instructions to give to each of the electric motors such that their combined movements result in a movement of the coupling aimed at bringing the coupling closer to the target duct,
apply said control instructions to bring the coupling closer to the target duct,
reiterate the three preceding steps until the coupling is presented in front of the target duct in a position for connection.
Inventors:
Le du Boua, Renault
Syral, Nikola
Syral, Nikola
Application Number:
JP2013264291A
Publication Date:
March 09, 2016
Filing Date:
December 20, 2013
Export Citation:
Assignee:
FMSE Technologies Society Anonym
International Classes:
B67D9/00; B67D9/02; B63B27/24; G01S19/14
Domestic Patent References:
| JP7285600A | ||||
| JP4863318A | ||||
| JP2002255291A | ||||
| JP2003276677A | ||||
| JP5484618A | ||||
| JP55126100A | ||||
| JP61165000A | ||||
| JP5295754A | ||||
| JP60123628A | ||||
| JP6376700U |
Attorney, Agent or Firm:
Atsushi Aoki
Jun Tsuruta
Tetsuro Shimada
Yoryo Mihashi
Yasushi Ohashi
Jun Tsuruta
Tetsuro Shimada
Yoryo Mihashi
Yasushi Ohashi