Marine Loading Arm Vision Control for Accurate Manifold Connection
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Solution Overview
Problem
Existing marine loading systems require precise positioning of targets relative to target tubing for successful connection, which is cumbersome and prone to errors due to sensitivity to ambient light and reflections, and necessitate multiple target models for different tubing configurations.
Innovation Solution
A marine loading system with an articulated fluid transfer arm equipped with optical means to determine relative positions using fiducial markers and digital cameras, allowing for targetless connection by calculating displacement trajectories based on target location, and incorporating computing means to generate control instructions for actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a reflective target is used for vision-based positioning, then the target can be detected from a distance, but the system becomes sensitive to ambient light, shadows, glare and reflections
Solution Approach 1:
The patent uses a retro-reflective target with high-contrast color patterns (such as alternating black and white stripes or specific color codes) that maintain detectability under varying ambient light conditions. The color design ensures the target remains distinguishable from the background and tubing regardless of lighting changes, reducing sensitivity to ambient light interference while preserving detection accuracy.
2Measurement precision
If the target is positioned precisely relative to the target tubing, then accurate connection can be achieved, but the setup becomes cumbersome and prone to operator errors
Solution Approach 1:
The system performs self-positioning by using the camera mounted on the coupling system to automatically locate and track the retro-reflective target on the tubing. The computer calculates the relative position and generates control instructions for actuators to autonomously adjust the arm's trajectory, eliminating the need for manual precise positioning by operators and reducing setup complexity while maintaining connection accuracy.
Solution Approach 2:
The vision system continuously provides feedback on the relative position between the coupling system and the target tubing through the retro-reflective target. The computer processes this visual information and dynamically adjusts the arm's movement trajectory in real-time, enabling automatic compensation for positioning variations and achieving accurate connection without requiring initial precise manual setup.
3Adaptability or versatility
If multiple target models are prepared for different tubing configurations, then adaptability to various tubing types is achieved, but the system complexity and preparation time increase
Solution Approach 1:
The patent employs a universal retro-reflective target design with distinctive color patterns that can be recognized and localized by the vision system regardless of the tubing configuration. The computer algorithms are configured to identify and process this standardized target format across different tubing types, eliminating the need for multiple specialized target models while maintaining adaptability to various tubing configurations through software-based recognition.
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 accurate connection without precise target positioning, reduces sensitivity to ambient light, and allows universal use of targets with any tubing type, enhancing operational efficiency and reliability.
Implementation Method 1
optical means carried by the coupling system and adapted to transmit images of the locating means
Data Source
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AI summary
The invention relates to a marine loading system comprising: 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 (35) designed to make it possible to determine a relative position; actuators for controlling the movement of the arm in space; optical means (24) 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 (22, 23) for calculating a movement trajectory of the arm towards the manifold on the basis the images of the tracking means of the target (28) and of the manifold transmitted by the optical means (24), and for generating control instructions determined on the basis of the calculated trajectory and transmitting said instructions to the control means.