Marine Loading Arm Vision Control for Manifold Alignment

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Solution Overview

Problem

Existing marine loading systems require precise positioning of targets on target manifolds for successful connection, which is cumbersome and sensitive to ambient conditions, and vision systems are prone to errors due to luminosity and reflections.

Innovation Solution

A marine loading system with tracking means and optical means, including fiducial markers and a digital camera, determines the relative position of the coupling system to the target and target manifold, allowing for automatic alignment without precise target positioning, using computing means to calculate and control the movement trajectory.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If precise positioning of target on target manifold is implemented, then connection accuracy is improved, but device complexity and operational difficulty increase

Engineering Contradiction:

Improveconnection accuracyVSAvoidtarget positioning complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent uses a camera to capture images of the target manifold and creates a digital representation of the target position and orientation. This optical copy allows the system to determine relative position without requiring physical precise positioning of fiducial markers on the target manifold, thereby reducing operational complexity while maintaining connection accuracy

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent replaces the mechanical positioning system (manually positioning targets with precise coordinates) with an optical detection system. The camera captures images and the computing means processes these images to determine relative positions, substituting mechanical precision requirements with optical measurement capabilities

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Extent of automation

If vision system is used for target detection, then automation is improved, but reliability deteriorates due to sensitivity to ambient luminosity, shadows, glare and reflections

Engineering Contradiction:

Improveautomatic connection capabilityVSAvoidvision system reliability

Core Design Contradiction:

Extent of automationVSReliability

Solution Approach 1:

The patent introduces fiducial markers as intermediary objects that are easier to detect reliably than the target manifold itself. These markers provide high-contrast, easily distinguishable features that the camera can detect consistently regardless of ambient lighting conditions, serving as reliable intermediaries for position determination

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent utilizes fiducial markers with distinct visual characteristics (different colors, patterns, or reflectivity) that create strong contrast against the background. This visual differentiation ensures reliable detection by the camera system under varying ambient luminosity conditions, as the markers' distinctive appearance remains detectable regardless of lighting changes

Inventive Principle:

Principle #32Color changes

3Adaptability or versatility

If removable target is used for different target manifolds, then adaptability is improved, but manufacturing precision requirements increase for correct positioning

Engineering Contradiction:

Improvetarget reuse capabilityVSAvoidtarget positioning precision

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent designs the target manifold with standardized fiducial markers that can be detected by the camera system regardless of which specific target manifold is being used. This universal marker design allows the same detection and control system to work with multiple different target manifolds without requiring precise manual positioning of custom targets for each one

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables reliable and precise connection to any type of target manifold without requiring precise target placement, improving efficiency and robustness against environmental factors.

Implementation Method 1

optical means supported by the coupling system and suitable for transmitting images of the tracking means

Methodology Applied

Scientific EffectOptical detection: Photography

Data Source

PatentUS12583125B2Marine loading system with automatic movement control, and associated method

Publication Date: 2026.03.24 T EN LOADING SYST

AI summary

The invention relates to a marine loading system including: an arm having a coupling system for connection to a target manifold for fluid transfer, the manifold and a target located adjacent to the manifold each having tracking means designed to make it possible to determine a relative position; actuators for controlling the movement of the arm in space; optical means supported by the coupling system and suitable for transmitting images of the tracking means; means for controlling the actuators provided on the arm; and computing means for calculating a movement trajectory of the arm towards the manifold on the basis the images of the tracking means of the target and of the manifold, transmitted by the optical means, and for generating control instructions determined on the basis of the calculated trajectory and transmitting said instructions to the control means.