U.S. patent application number 16/111110 was filed with the patent office on 2019-01-10 for control device for fluid loading and/or unloading system.
The applicant listed for this patent is FMC Technologies, S.A.. Invention is credited to Renaud Le Devehat, Nicolas Sylard.
Application Number | 20190009865 16/111110 |
Document ID | / |
Family ID | 40119383 |
Filed Date | 2019-01-10 |
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United States Patent
Application |
20190009865 |
Kind Code |
A1 |
Le Devehat; Renaud ; et
al. |
January 10, 2019 |
Control Device for Fluid Loading and/or Unloading System
Abstract
1. A marine loading arm which includes at least one fluid
transfer line having a fixed line end fixed to a base and a
moveable line end provided with a coupling adapted for connection
to a target duct. The coupling has at least three degrees of
freedom relative to the base and the marine loading arm further
includes a control device for controlling the movement and
positioning of the coupling. The control device has at least three
actuators, each of which controls movement of the coupling in a
corresponding degree of freedom and each of which comprises an
electric motor which is provided at an articulation of the loading
arm providing one of the degrees of freedom. The control device
further includes a first global positioning system device
positioned on or adjacent the coupling for providing information on
the absolute positioning of the coupling in space.
Inventors: |
Le Devehat; Renaud;
(Thorigny-Sur-Oreuse, FR) ; Sylard; Nicolas;
(Auxerre, FR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
FMC Technologies, S.A. |
Sens |
|
FR |
|
|
Family ID: |
40119383 |
Appl. No.: |
16/111110 |
Filed: |
August 23, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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|
12736789 |
Nov 8, 2010 |
10081414 |
|
|
PCT/IB2008/002685 |
Jun 23, 2008 |
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16111110 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B63B 27/24 20130101;
B63B 27/34 20130101; B67D 9/02 20130101 |
International
Class: |
B63B 27/24 20060101
B63B027/24; B63B 27/34 20060101 B63B027/34; B67D 9/02 20060101
B67D009/02 |
Foreign Application Data
Date |
Code |
Application Number |
May 22, 2008 |
FR |
0853349 |
Claims
1. A marine loading arm comprising: at least one fluid transfer
line having a fixed line end fixed to a base and a moveable line
end provided with a coupling adapted for connection to a target
duct, the coupling having at least three degrees of freedom
relative to the base; and a control device for controlling the
movement and positioning of the coupling, the control device
comprising at least three actuators, each of which is an electric
motor which controls movement of the coupling in a corresponding
degree of freedom and is provided at an articulation of the loading
arm that provides the corresponding degree of freedom; the control
device further comprising a first global positioning system device
positioned on or adjacent the coupling for providing information on
the absolute positioning of the coupling in space.
2. The marine loading arm according to claim 1, wherein the control
device further comprises calculating means for (a) calculating the
positioning of the coupling relative to the target duct on the
basis of information on the absolute positioning of the target duct
in space and the information on the absolute positioning of the
coupling in space, (b) calculating control instructions for each of
the actuators which will result in movement of the coupling toward
the target duct, (c) applying said control instructions to the
actuators to bring the coupling toward the target duct, and (d)
repeating steps (a)-(c) as necessary until the coupling is located
in a position for connection to the target duct.
3. The marine loading arm according to claim 1, wherein the
coupling is articulated with three degrees of rotational freedom
relative to the movable end of the fluid transfer line, and wherein
the control device further comprises: at least one additional
actuator for controlling movement of the coupling in at least one
of the three rotational degrees of freedom, the at least one
additional actuator comprising an electric motor; means for
providing information on the angular orientation of the coupling;
and means for providing information on the angular orientation of
the target duct; wherein the calculating means is adapted to
calculate, on the basis of the information on the angular
orientation of the coupling and on the angular orientation of the
target duct, control instructions for the at least one additional
actuator in order to make the angular orientation of the coupling
in the position for connection substantially the same as the
angular orientation of the target duct.
4. The marine loading arm according to claim 1, further comprising
a clamping actuator for enabling the coupling to be clamped and
unclamped, wherein once the coupling is in the position for
connection, the calculating means applies a control instruction to
said clamping actuator to clamp the coupling onto the target
duct.
5. The marine loading arm according to claim 4, wherein once the
coupling has been clamped onto the target duct, the calculating
means applies an instruction to disengage the actuators.
6. The marine loading arm according to claim 1, further comprising
a second global positioning system device positioned on or adjacent
the target duct for providing the information on the absolute
positioning of the target duct in space.
7. The marine loading arm according to claim 6, wherein the first
and second global positioning system devices comprise means for
communicating with each other and means for calculating and
providing information on the positioning of the coupling relative
to the target duct.
8. A marine loading arm comprising: at least one fluid transfer
line having a fixed line end fixed to a base and a moveable line
end provided with a coupling adapted for connection to a target
duct, the coupling having at least three degrees of freedom
relative to the base; and a control device for controlling the
movement and positioning of the coupling, the control device
comprising at least three actuators, each of which is an electric
motor which controls movement of the coupling in a corresponding
degree of freedom and is provided at an articulation of the loading
arm that provides the corresponding degree of freedom; the control
device further comprising means positioned on or adjacent at least
one of the coupling and the target duct for providing information
on the positioning of the coupling; wherein the coupling
positioning information means includes an optical device which is
fixed relative to one of the coupling and the target duct and is
adapted to emit a luminous beam towards the other of the coupling
and the target duct, detect the reflected beam, measure the travel
time of the beam and deduce therefrom the positioning of the
coupling relative to the target duct.
9. The marine loading arm according to claim 8, wherein the control
device further comprises calculating means for (a) calculating the
positioning of the coupling relative to the target duct on the
basis of the information on the positioning of the coupling, (b)
calculating control instructions for each of the actuators which
will result in movement of the coupling toward the target duct, (c)
applying said control instructions to the actuators to bring the
coupling toward the target duct, and (d) repeating steps (a)-(c) as
necessary until the coupling is located in a position for
connection to the target duct.
10. A marine loading arm comprising: at least one fluid transfer
line having a fixed line end fixed to a base and a moveable line
end provided with a coupling adapted for connection to a target
duct, the coupling having at least three degrees of freedom
relative to the base; and a control device for controlling the
movement and positioning of the coupling, the control device
comprising at least three actuators, each of which is an electric
motor which controls movement of the coupling in a corresponding
degree of freedom and is provided at an articulation of the loading
arm that provides the corresponding degree of freedom; the control
device further comprising a camera which is fixed relative to one
of the coupling and the target duct and is adapted to provide an
image of the other of the coupling and the target duct or of a
target which is fixed relative to the other of the coupling and the
target duct.
11. The marine loading arm according to claim 10, wherein the
control device further comprises calculating means which is adapted
to: (a) process the image provided by the camera and calculate
therefrom the positioning of the coupling relative to the target
duct, (b) calculate control instructions for each of the actuators
which will result in movement of the coupling toward the target
duct, (c) apply said control instructions to the actuators to bring
the coupling toward the target duct, and (d) repeat steps (a)-(c)
as necessary until the coupling is located in a position for
connection to the target duct.
12. A marine loading arm comprising: at least one fluid transfer
line having a fixed line end fixed to a base and a moveable line
end provided with a coupling adapted for connection to a target
duct, the coupling having at least three degrees of freedom
relative to the base; and a control device for controlling the
movement and positioning of the coupling, the control device
comprising at least three actuators, each of which is an electric
motor which controls movement of the coupling in a corresponding
degree of freedom and is provided at an articulation of the loading
arm that provides the corresponding degree of freedom; the control
device further comprising means positioned on or adjacent at least
one of the coupling and the target duct for providing information
on the positioning of the coupling relative to the target duct;
wherein the means for providing information on the positioning of
the coupling relative to the target duct comprises a cord which is
tensioned between the coupling and the target duct using a reel,
and at least one of a cord angle sensor and an unwound cord length
sensor.
13. The marine loading arm according to claim 12, wherein the
control device further comprises calculating means for (a)
calculating the positioning of the coupling relative to the target
duct on the basis of the information on the positioning of the
coupling relative to the target duct, (b) calculating control
instructions for each of the actuators which will result in
movement of the coupling toward the target duct, (c) applying said
control instructions to the actuators to bring the coupling toward
the target duct, and (d) repeating steps (a)-(c) as necessary until
the coupling is located in a position for connection to the target
duct.
14. The marine loading arm according to claim 1, wherein at least
one of the actuators comprises a proportional control actuator.
15. The marine loading arm according to claim 2, further comprising
at least a second means for providing information on the
positioning of the coupling, said second means being adapted to
determine the positioning of the coupling with greater precision
than the first global positioning device, wherein the calculating
means (41) uses the information on the positioning of the coupling
from the second means when the distance between the coupling and
the target duct is less than a predefined distance.
16. The marine loading arm according to claim 2, further comprising
means positioned on or adjacent the base for providing information
on the absolute positioning of the base in space, wherein the
calculating means is adapted to calculate in real time from the
information on the positioning of the coupling and the information
on the positioning of the base, information on the positioning of
the coupling relative to the base, compare the information on the
positioning of the coupling relative to the base to data defining
at least one authorized positioning zone for the coupling, and
trigger a perceptible alarm signal when the coupling leaves the
authorized positioning zone.
17. The marine loading arm according to claim 16, wherein the
calculating means is adapted to stop the application of the control
instructions to the actuators when the coupling leaves the
authorized positioning zone.
Description
[0001] This application is a continuation of U.S. patent
application Ser. No. 12/736,789 filed on Nov. 8, 2010, which is
based on International Patent Application No. PCT/IB2008/002685
filed on Jun. 23, 2008.
BACKGROUND OF THE INVENTION
[0002] The present invention generally relates to systems for
loading and/or unloading fluids for ships, commonly referred to as
marine loading systems. These systems are used to transfer a fluid
product between a ship and a quay or between two ships.
[0003] Fluid product is understood to mean a liquid or gaseous
product. More particularly, the present invention concerns the
devices for controlling movement, positioning and connection of
such loading and/or unloading systems.
[0004] Generally, marine loading systems have a fluid transfer line
end that is fixed to a base and connected to a tank of fluid to be
transferred, and an opposite line end that is moveable and provided
with a coupling adapted for connecting to a target duct, which
itself connected to a fluid tank.
[0005] Two families of fluid loading systems for ships are known,
which are distinguished by their structure: systems for transfer by
rigid pipes and systems for transfer by flexible pipes.
[0006] In the family of systems for transfer by rigid pipes,
loading arm systems and pantograph systems can be
distinguished.
[0007] The loading arm is an articulated tubing arrangement,
comprising a base, connected to fluid tank, on which there is
mounted a first pipe, designated inner pipe, via a portion of tube
with a 90.degree. bend enabling rotation of one of its ends about a
vertical axis, and the other end about a horizontal axis. At the
opposite end of the inner tube, a second pipe, designated outer
pipe, is rotatably mounted about a horizontal axis. A coupling is
mounted at the end of the outer pipe. Each of the three rotations
is controlled by a jack or hydraulic motor.
[0008] The pantograph systems, like the loading arms, comprise a
base connected to a tank. A crane is rotatably mounted on that
base. The crane comprises a boom carrying a pipe for the fluid. At
the end of the boom there is mounted a pantograph composed of
articulated pipes for the fluid, and enabling a coupling to be
moved that is mounted at the free end of the pantograph. The
inclination of the pantograph is controlled by a rotation at the
end of the boom. The movement of the pantograph is controlled by
hydraulic motors and by a jack for the rotation on the base.
[0009] Lastly, the flexible piping systems generally comprise a
line in which is conveyed the fluid product and a mechanical system
enabling the line to be maneuvered. There are several types of
maneuvering systems, but in all cases they include a manipulating
crane or structure which supports the coupling for connecting the
flexible piping.
[0010] In general, the loading system comprises an actuator at its
end enabling the coupling to be clamped or unclamped. In general,
this is one or more jacks or one or more hydraulic motors.
[0011] In practice, in most systems, the coupling is articulated at
its end with three degrees of rotational freedom. In this way an
angular orientation of the plane of the coupling relative to the
plane of the target duct is possible independently of the
inclination of the arm, the plane of the coupling remains parallel
to the plane of the target duct on approach for the connection, and
then, once the coupling has been clamped onto the target duct,
these articulations enable a "floating" movement of the assembly.
In practice, the rotations are controlled by the operator via
hydraulic motors or jacks until connection of the coupling to the
target duct has been achieved. Once the coupling has been clamped
the hydraulic motors or jacks are disengaged or "set to freewheel"
to enable the loading system to follow the movements of the target
duct without constraining the coupling.
[0012] The two families of loading devices described above have
structural differences, but their control systems are designed
according to the same general principle of operation. It is noted
that, in all cases, the coupling has at least three degrees of
freedom relative to the base bearing the fixed end of the duct, and
that the movements in each of these degrees of freedom are
independently controlled by actuators. The operator has a command
interface enabling him to control the movement of the coupling.
[0013] Each actuator is controlled either separately by an
independent control of the on/off type, or by a simultaneous
proportional control. In the case of on/off independent controls,
the operator can act independently on each of the controls to
control a particular member of the loading system. The combined
action on the group of actuators enables the coupling to be
positioned at a desired point in space.
[0014] In the case of proportional controls, the operator has a
command input interface comprising a proportional control
cooperating with a calculator such that acting on said proportional
control with higher or lower magnitude leads to at least one
proportional control instruction that is respectively of higher or
lower magnitude for the corresponding actuators, resulting in a
movement of the coupling at a speed of movement that is
respectively higher or lower.
[0015] The operator may thus directly control the movement of the
coupling, and may thus in particular achieve movement of the
coupling that is rectilinear, and/or at constant speed, since the
calculator composes the movement of the coupling by acting on all
the actuators simultaneously.
[0016] In general, the actuators used are hydraulic, for example a
hydraulic motor or jack, but the use of electric actuators is also
known, for example electric motors, or pneumatic actuators. The
actuators equipping marine loading systems are controlled either by
an on/off control, with a constant speed of movement, and in
certain cases, with the possibility of setting two speeds of
movement at will for the independent controls of the on/off type,
or by proportional distributors, in the case of proportional
controls.
[0017] In all cases, the connection of the coupling to the target
duct is made manually, the operator thus maneuvers the loading
system, with or without the intermediary of a control calculator in
order to come to connect the coupling on the target duct.
[0018] These control devices are difficult to implement, in that
the operator must know the functioning and kinematics of the marine
loading system perfectly. Furthermore, he must compensate for the
movements of the ship, in particular in the case of rough sea. This
increases the risk of the coupling striking against obstacles or
against the target duct, which may damage the seals of the
coupling. The maneuvering and the connection thus require qualified
personnel.
[0019] A system is known making it possible to facilitate the
connection of a coupling to a target duct in which the coupling is
linked in advance by a cable to the target duct. A cable is thrown
between the quay or the ship bearing the base and the ship bearing
the target duct, then attached by operators between the target duct
and the base. A winch then enables the arm to be advanced along the
tensioned cable and thus the coupling to be drawn towards the
target duct. This system is commonly called a "targeting system".
It is a semi-automatic system: once the cable has been connected,
an operator must control the movement of the coupling along the
cable by actuating the winding operation. A guiding cone is
provided for the final phase of the approach. Once the coupling has
been brought near, an operator must finalize its connection and its
closure manually.
[0020] This mode of semi-automatic connection requires experienced
staff and a suitable heavy mechanical structure (in particular a
motor adapted to draw the arm along the cable, an anchorage point
for the opposite end of the cable, and a guiding cone for the
approach in the final phase).
[0021] On the basis of these observations, the invention aims to
provide a device for facilitating the operation of controlling
movement of the coupling for the operator, in particular to make it
possible to succeed in connecting the coupling in unfavorable sea
conditions, and more generally to facilitate the connection and
make it more rapid in all cases, while reducing the risk of
striking of the coupling.
SUMMARY OF THE INVENTION
[0022] To that end the invention provides a control device for the
movement and positioning of a coupling for a marine loading system,
said marine loading system comprising at least one fluid transfer
line having a line end fixed to a base and a moveable line end
provided with a coupling adapted for connection to a target duct,
the coupling having at least three degrees of freedom relative to
the base, the device being characterized in that it comprises at
least three actuators, each for controlling the movement of the
system in a corresponding degree of freedom, and at least one of
the coupling and the target duct, or a member immediately
neighboring the at least one of the coupling and the target duct,
comprises at least one means for providing information on
positioning of the coupling, and the device furthermore comprises
calculating means adapted to:
[0023] 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;
[0024] calculate control instructions to give to each of the
actuators such that their combined movements result in a movement
of the coupling aimed at bringing the coupling closer to the target
duct;
[0025] apply said control instructions to bring the coupling closer
to the target duct; and
[0026] repeat the three preceding steps until the coupling is
presented in front of the target duct in a position for
connection.
[0027] Immediately neighboring members is understood to mean
members of the marine loading system which are fixed or moveable
relative to the coupling or the target duct respectively, but
sufficiently close thereto whatever the geometric configuration of
the loading system, to give precise information as to the relative
positioning of the coupling relative to the target duct, in
particular to make it possible to precisely present the coupling
automatically in front of the target duct for the purpose of
connection.
[0028] Advantageously, the device according to the invention
enables the operator to dispense with controlling the movement of
the coupling during the approach of the target duct for connection,
since the device takes on the task of controlling the movement of
the coupling automatically until the latter is presented in front
of the target duct.
[0029] In other words, the device according to the invention
enables the coupling to be automatically moved until it is located
in front of the target duct in position for connection. The
operator no longer needs to control the movement of the coupling
for connection to the target duct; the movement of the coupling
into position for connection is made automatically.
[0030] This advantageously makes it possible to facilitate the
connection and make it faster in all cases and more particularly to
succeed in making the connection of the coupling in unfavorable sea
conditions, while reducing the risk of striking of the
coupling.
[0031] With the device according to the invention, the connection
is possible even for a novice operator.
[0032] The device according to the invention enables the safety of
use to be increased by eliminating any risk of improper
manipulation.
[0033] Advantageously, the invention adapts to any type of marine
loading system, to the systems for transfer by rigid pipes as well
as to the systems for transfer by flexible pipes, since the means
for providing information on positioning of the coupling enable
information to be obtained on the relative positioning of the
coupling directly relative to the target duct independently of the
kinematics and the structure of the loading system.
[0034] According to advantageous features, which may be
combined:
[0035] at least one of the coupling and the target duct, or a
member that is fixed relative to the at least one of the coupling
and the target duct, comprises at least one means for providing
information on positioning of the target duct, and the calculating
means are adapted to deduce on the basis of the information on
positioning of the target duct and of the information on
positioning of the coupling provided by the at least two means for
providing positioning information, the relative position of the
coupling relative to the target duct;
[0036] the means for providing information on the positioning of
the coupling and the means for providing information on the
positioning of the target duct are designed to communicate with
each other, and comprise calculating means for calculating and
directly providing information on relative positioning of the
coupling relative to the target duct; and
[0037] the coupling is articulated at its end with three degrees of
rotational freedom and at least one of the three rotations is
controlled by an actuator, the device being provided with means for
providing information on the angular orientation of the coupling
and means for providing information on the angular orientation of
the target duct, the calculating means being adapted to calculate,
on the basis of the information provided by the means for providing
information on the angular orientation, control instructions to
give to the at least one actuator in order for the angular
orientation of the coupling, in position for connection, to be
substantially the same as the angular orientation of the target
duct.
[0038] Advantageously, the coupling is orientated along the same
axis as the target duct which enables a precise and reliable
connection, while limiting the risk of collision and of
deterioration of the seals.
[0039] In accordance with advantageous features of the invention,
which may be combined:
[0040] the device further comprises an actuator enabling the
coupling to be clamped and unclamped, and, once the coupling has
been presented in front of the target duct in a position for
connection, the calculating means apply a control instruction to
said actuator to clamp the coupling onto the target duct; and
[0041] once the coupling has been connected and clamped onto the
target duct, the calculating means apply an instruction to
disengage the actuators to control the movement of the system in
its degrees of freedom, so as to make the movements of the system
free.
[0042] Thus, advantageously, the connection is made without human
intervention, even if the target duct moves, for example when the
sea is rough. The clamping of the coupling is automatic once it has
been presented in the position for connection. The actuators of the
loading system are then allowed to be free in their movements to
enable the coupling and the loading system to follow the movements
of the target duct without damaging the loading system.
[0043] According to advantageous features, which may be
combined:
[0044] the means for providing information on the positioning of
the target duct includes a device of a system for global
positioning, in particular of GPS type, making it possible to give
an absolute position of the target duct, the calculating means
being adapted to calculate, on the basis of the information on
absolute positioning of the target duct, the relative positioning
of the coupling relative to the target duct;
[0045] the means for providing information on the positioning of
the coupling includes a device of a system for global positioning,
in particular of GPS type, making it possible to give an absolute
position of the coupling, the calculating means being adapted to
calculate, on the basis of the information on absolute positioning
of the coupling and of the target duct, the relative positioning of
the coupling relative to the target duct;
[0046] the devices for global positioning, in particular of GPS
type, are devices designed to communicate with each other and
comprise calculating means for calculating and providing directly
information on relative positioning of the coupling relative to the
target duct;
[0047] one of the means for providing information on positioning of
the coupling or of the target duct includes an optical device,
adapted to cooperate with the target duct or the coupling
respectively or a target that is fixed relative to the target duct
or relative to the coupling respectively, by emitting a luminous
beam, such as a laser beam, towards the target duct or the coupling
or a target that is fixed relative to the target duct or the
coupling respectively, and to detect the reflected beam and to
measure the travel time of the beam to deduce therefrom information
on relative positioning of the coupling directly relative to the
target duct;
[0048] the means for providing information on positioning of the
coupling includes an optical camera, designed and mounted to
provide an image of the coupling to the calculating means, the
calculating means being adapted to process the image provided by
the camera to calculate the relative positioning of the coupling
relative to the target duct;
[0049] at least one cord is tensioned using a reel between the
coupling and the target duct and the means for providing
information on positioning are at least one angle sensor and/or at
least one unwound cord length sensor on the reel, chosen so as to
provide the calculating means with information making it possible
to calculate the relative positioning of the coupling relative to
the target duct;
[0050] at least one of the actuators for controlling the movement
of the system in a degree of freedom is a proportional control
actuator;
[0051] the device comprises a command interface for an operator,
and the communication between the command interface and the
calculating means is performed wirelessly, the command interface
comprising a transmitter for wireless communication with a receiver
linked to the calculating means; and
[0052] the device comprises at least two means for providing
information on positioning of the coupling, one making it possible
to determine the positioning of the coupling with greater precision
than the other and the calculating means using, for the positioning
of the coupling, the positioning means having greater precision
when the distance between the coupling and the target duct becomes
less than a predefined distance.
[0053] When the coupling is moved too far from the base, there is a
risk of damage to the system, in particular by rupture or
interference. When the coupling is moved too far from the base
during extension there is a risk of rupture of the system. When the
coupling is rotated relative to the base, in particular when
several loading systems are disposed in parallel on a quay, there
is a risk of collision with the neighboring loading systems: the
term damage by interference is used.
[0054] To avoid such damage to the loading system, alarm devices
have been provided on certain types of loading devices.
[0055] Systems are known using proximity detectors and angle
sensors disposed on the members or on the path of members of the
loading system. The systems for detecting proximity or switches
have the drawback of requiring knowledge of the kinematics of the
loading system and consequently the requirement to position
switches or sensors on the system for defining working zones.
Furthermore, these sensors only give a signal of the on/off type,
which limits the possibilities for alarms. There is a single zone
limit per sensor. The devices with angle sensors enable working
zones to be defined, but impose a system with a rigid structure for
placing the sensors therein. Lastly, no systems are known at
present enabling alarms to be triggered for the systems with
flexible piping.
[0056] To that end, according to an advantageous feature of the
present invention, the at least one means for providing information
on positioning of the coupling is either adapted to cooperate
directly with a means for providing information on positioning of
the base disposed on the base or on a member that is fixed relative
to the base to provide, on the basis of the information on
positioning of the base, information on relative positioning of the
coupling directly relative to the base, or adapted to provide
information on absolute positioning of the coupling in space, and,
the base having a fixed position in space, the device comprises a
calculating means making it possible to calculate on the basis of
the information on absolute positioning of the coupling and data on
positioning of the base fixed in space, information on relative
positioning of the coupling directly relative to the base, the
device further comprises calculating means adapted to:
[0057] calculate, in real time, according to the movements of the
coupling relative to the base and the information on positioning of
the coupling relative to the base, data defining at least one
positioning zone authorized for the coupling being parameterized in
the calculating means;
[0058] check, in real-time, whether the coupling is located within
the authorized zone; and
[0059] emit a specific alarm when the coupling leaves the
corresponding authorized zone to warn the operator.
[0060] Thus, authorized zones or working zones are defined
virtually by the calculating means. It is not necessary to provide
sensors or switches physically disposed on the loading system to
define such zones and they are easy to parameterize via the
calculating means.
[0061] This makes it possible to increase the safety of use by
virtue of alarms triggered more precisely, independently of the
kinematics and of the structure of the loading system.
[0062] Furthermore, it is possible to provide a plurality of
authorized zones, for example overlapping one within the other,
having different degrees of working risk, and corresponding to
different alarms according to whether the work in the zone
concerned bears a greater or lesser risk.
[0063] According to an advantageous feature, the calculating means
are adapted to stop the application of the control instructions to
give to each of the actuators for imparting movement to the
coupling.
[0064] Thus, the connection procedure is automatically stopped when
an alarm has been triggered, which enables the device according to
the invention to be made safer.
[0065] According to an advantageous feature, several marine loading
systems are connected to the calculating means, and a selector is
provided at the command interface to selectively control one of the
loading systems connected to the calculating means.
[0066] Thus the operator just has to select the arm of which he
wishes to connect the coupling, and the operation will be performed
automatically, whether the target duct is mobile or static.
[0067] According to another aspect, the invention provides a
calculator for a device as described above that is adapted to:
[0068] calculate the relative positioning of the coupling relative
to the target duct according to the information provided by the
means for providing information on positioning of the coupling;
[0069] calculate control instructions to give to each of the
actuators such that their combined movements result in a movement
of the coupling aimed at bringing the coupling closer to the target
duct; and
[0070] apply said control instructions to bring the coupling closer
to the target duct until it is presented in front of the target
duct in a position for connection.
[0071] According to another aspect, the invention provides a method
for the calculating means of a device as described above comprising
the following calculating steps:
[0072] calculating the relative positioning of the coupling
relative to the target duct according to the information provided
by the means for providing information on positioning of the
coupling;
[0073] calculating control instructions to give to each of the
actuators such that their combined movements result in a movement
of the coupling aimed at bringing the coupling closer to the target
duct; and
[0074] applying said control instructions to bring the coupling
closer to the target duct until it is presented in front of the
target duct in a position for connection.
[0075] The explanation of the invention will now be continued with
the detailed description of an embodiment, given below by way of
non-limiting example, with reference to the accompanying
drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0076] FIG. 1 is a diagrammatic view in perspective of a loading
arm equipped with a control device according to the invention;
[0077] FIG. 2 is an synoptic diagram of the operation of the device
according to FIG. 1;
[0078] FIG. 3 is a function diagram to represent the principle of
operation of the control device according to FIGS. 1 and 2;
[0079] FIG. 4 is a diagrammatic view in perspective of another
embodiment of a loading arm equipped with a control device
according to the invention;
[0080] FIG. 5 is a diagrammatic view in perspective of another
embodiment of a loading arm equipped with a control device
according to the invention; and
[0081] FIGS. 6a and 6b are diagrammatic views in perspective of
another embodiment of the loading arm equipped with a control
device according to the invention.
DETAILED DESCRIPTION OF THE INVENTION
[0082] FIG. 1 is a very diagrammatic representation of a loading
arm 2 equipped with a control device 1 according to the invention.
The representation of the loading arm here is very simplified, and
it should be recalled in this connection that the control device
according to the invention adapts to any type of marine loading
system, in particular to the loading systems described above.
[0083] The loading arm of FIG. 1 comprises a base 21 connected to a
fluid tank which is located below the surface 22 on which the base
is fixed. In the present case it is a quay, but in a variant it is
a ship. At the apex of the base there is rotatably articulated a
bent tube 23, on which is articulated in turn a first tube referred
to as an inner tube 24 which is articulated at its opposite end
with a second tube referred to as an outer tube 25. The end of the
outer tube carries a coupling 26 adapted to be connected to a
target duct 35, disposed in the present example on a ship 36
represented very diagrammatically.
[0084] In the embodiment represented, in a manner known per se, the
coupling has three degrees of freedom in rotation relative to the
end of the outer tube. In the present embodiment, these three
rotations are free, such that an operator may freely adjust the
angle of the coupling during the final phase of approach for the
connection of the coupling to the target pipe.
[0085] In an alternative embodiment, not shown, one or more of
these rotations are controlled by actuators and connected to a
command interface to enable the operator directly to control the
rotations on the final approach of the coupling.
[0086] In a manner known per se, the coupling in the present
embodiment has locking claws 31 which are closed by an actuator 30
represented very diagrammatically to hold the coupling 26 around
the target duct 35, once they are connected.
[0087] Generally, this type of loading arm is known per se, and
will not be described in more detail here. It will moreover be
recalled that the control device according to the invention adapts
to all the marine loading systems, and that the adaptation of the
control device according to the invention to any other type of
loading system, in particular one of the systems described above,
is within the capability of the person skilled in the art.
[0088] In the device according to the invention as represented
diagrammatically in FIG. 1, actuators 27, 28, 29 are provided at
each of the three articulations of the loading arm (symbolized by
the double arrows A, B, C). More specifically, a first actuator 27
is provided between the apex of the base 21 and the bent tube 23,
to pivot the latter horizontally relative to the base, a second
actuator 28 is provided between the end of the bent tube 23 and the
inner tube 24 so as to pivot the inner tube vertically, and a third
actuator 29 is provided between the inner tube 24 and the outer
tube 25 to make the latter pivot vertically.
[0089] The three actuators 27, 28, 29 are hydraulic jacks here
represented very diagrammatically in FIG. 1. In a variant not
illustrated, one or more of the hydraulic jacks are replaced by
hydraulic motors. According to another variant not illustrated, the
actuators are electric or pneumatic motors.
[0090] The target duct 35 provided here on a ship 36 represented
very diagrammatically is provided with a box 34 enclosing a means
for providing information on positioning of the target duct which
is, in the present embodiment, a device of a system for global
positioning of the GPS type, enabling an absolute position to be
given, and more particularly the spatial coordinates of the free
end of the target duct.
[0091] The same applies for the coupling 26, which comprises a box
33 enclosing a device of a system for global positioning of the GPS
type, enabling an absolute position to be given, and more
particularly the spatial coordinates of the connecting end of the
coupling.
[0092] The calculating means of the control device are combined
into a calculator 41 disposed in an electrical control cabinet
40.
[0093] A hydraulic power unit 42 is provided to supply the
actuators with the hydraulic energy necessary for their operation.
It is controlled by the calculator 41.
[0094] The GPS boxes 33 and 34 are each respectively provided with
an emitting device 33A and 34A to emit a signal comprising
positioning information. The calculator 41 is linked to a receiver
device 40A adapted to receive said signals from the emitters 33A
and 34A. The control device furthermore comprises a command
interface 60 for an operator.
[0095] Alternatively, the box 33 is positioned on a member
immediately neighboring the coupling, for example one of the
members articulated to the end of the arm, the calculating means
being adapted to extrapolate the information on positioning of the
coupling relative to the information provided by the box.
[0096] As can be seen more particularly in FIG. 2, in the synoptic
diagram of the operation of the device according to FIG. 1, the
calculator 41 is linked to the receiver device 40A, which is a
radio receiver adapted to communicate with the radio transmitter
devices 33A and 34A respectively linked to the GPS boxes 33 and 34
of the coupling and of the target duct. The GPS boxes thus provide
the calculator with information on the positioning of the coupling
and of the target duct.
[0097] In an alternative embodiment, the GPS boxes are devices
designed to communicate with each other so as to directly provide
information on the relative position of the coupling relative to
the target duct, to the calculator.
[0098] The loading arm 2 is equipped with actuators 27, 28, 29,
which are controlled by valves that are themselves controlled by
the calculator. The hydraulic power unit 42 supplies the actuators
via said valves with the hydraulic energy necessary for their
operation. The hydraulic power unit 42 is controlled by the
calculator via power relay 43 to control the starting and stopping
of the hydraulic power unit. The hydraulic power unit comprises a
pump (not represented) adapted to pump a hydraulic fluid to supply
the actuators.
[0099] The command interface 60 is linked to the calculator to
enable an operator to command the connection of the coupling to the
target duct.
[0100] As can be seen in FIGS. 2 and 3, when the operator wishes to
connect the coupling to the target duct, he actuates a button 61 on
the command interface 60 to order the connection. A signal
corresponding to his order is then sent to the calculator. The
calculator then launches the automatic connection procedure.
[0101] The calculator receives, via the radio receiver 40A, the
information on positioning of the coupling and of the target duct
from the respective GPS boxes 33 and 34. Alternatively, in another
embodiment, the calculator receives the information by cable
directly from the GPS boxes. According to an alternative
embodiment, the GPS box 34 situated on the ship sends the
information on positioning of the target duct to the GPS box 33 of
the loading arm which calculates the relative positioning of the
coupling relative to the target duct and sends back the result to
the calculator by radio or wire link.
[0102] The calculator converts this information into spatial
coordinates to obtain the relative position of the coupling
relative to the target duct.
[0103] On the basis of the information on the relative position of
the coupling relative to the target duct, the calculator calculates
the distances that remain between the coupling and the target duct
along the X, Y and Z axes, which are diagrammatically represented
in FIG. 1.
[0104] If these three distances are not zero, or equal to distances
parameterized as reference distances that are known for the
connection, the calculator calculates control instructions for each
of the actuators 27, 28, 29 of the arm such that their combined
movements result in a movement of the coupling aimed at bringing
the coupling closer to the target duct along the three axes. The
calculator then applies the control instructions calculated for
each actuator to the actuators 27, 28, 29 via the corresponding
valves. Once the instructions have been executed by the actuators,
the calculator again calculates the distances remaining between the
coupling and the target duct along the X, Y and Z axes. If these
distances are not still zero or equal to the parameterized
distances (for example, when the sea conditions are bad) the
calculator recommences the calculations of the instructions for the
actuators and applies them until the distances are zero or equal to
the parameterized distances. In other words, the calculator applies
control instructions, at the order of the operator via the command
interface 60, to bring the coupling towards the target duct until
it is presented in front of the target duct in a position for
connection.
[0105] If the three distances are zero or equal to the
parameterized distances, it means that the coupling is located
facing the target duct in position for connection. The calculator
then sends a control instruction to the actuator 30 of the coupling
to clamp the coupling to the target duct, and then an instruction
to disengage the actuators 27, 28, 29 of the arm, so as to make the
movements of the arm free once the coupling has been connected and
clamped to the target duct.
[0106] Lastly, an indicator light 62 indicates to the operator on
the command interface that the automatic connection has ended
successfully.
[0107] An emergency stop button for stopping the automatic
connection procedure, not shown, is provided on the command
interface 60.
[0108] In a variant, not shown, other indicators are provided on
the command interface to signal to the operator various
malfunctions or problems in the automatic connection process.
[0109] According to an embodiment not represented, the means for
providing information on positioning of the coupling is adapted to
cooperate directly with a means for providing information on
positioning of the base disposed on the base or on a member that is
fixed relative thereto to provide, on the basis of the information
on positioning of the base, information on relative positioning of
the coupling directly relative to the base. This may, for example,
be the same GPS box 33 cooperating with another GPS box disposed on
the base. Alternatively, if the base is fixed to a quay, the means
for providing information on positioning of the coupling is adapted
to provide information on absolute positioning of the coupling in
space, for example via a GPS box and, with the base having a
position fixed in space, the calculator is adapted to calculate, on
the basis of the GPS coordinates of the fixed base and the GPS
coordinates of the coupling mobile in space, the relative
positioning of the coupling directly relative to the base. In this
embodiment, the calculator calculates in real time information on
positioning of the coupling relative to the base according to the
movements of the coupling and the information provided by the means
for providing information on positioning of the coupling. The
calculator is parameterized with data defining at least one
authorized zone for positioning of the coupling and is adapted to
verify in real time whether the coupling is in the authorized zone.
In the opposite case, the calculator is adapted to emit an alarm
when the coupling leaves the corresponding authorized zone.
Advantageously, according to a variant, the calculating means are
adapted to stop the command for automatic connection of the
coupling when such an alarm is emitted. Advantageously, the fact of
providing such authorized zones or working zones makes it possible
to avoid a risk of damage to the system in particular by rupture or
interference when the coupling is moved too far from the base
during extension or rotation.
[0110] In this case, the calculator is programmable so as to define
working zones and/or forbidden zones which may be parameterized by
the operator according to each loading or unloading operation of
fluid products. This makes it possible, for example, to adapt the
automatic connection procedure to different ships which may have
different possible collisions zones.
[0111] Light or sound emitting indicators are provided to warn the
operator of the crossing of an authorized zone boundary.
[0112] In an embodiment that is not represented, several marine
loading systems are connected to the same calculator 40, and a
selector is provided at the command interface to selectively
control the connection of one or other of the loading systems
linked to the calculator. Working zones corresponding to the
neighboring loading system are programmed so as to avoid collisions
between the different loading systems.
[0113] In an alternative embodiment not represented, the three
degrees of rotational freedom of the coupling at its end relative
to the end of the outer tube are controlled by actuators, for
example hydraulic motors or jacks. The device is provided with
means for providing information on angular orientation of the
coupling, and means for providing information on angular
orientation of the target duct, for example pendulum sensors.
Suitable calculating means are provided to calculate, according to
the information provided by the means for providing information on
angular orientation of the coupling and of the target duct, control
instructions given to the actuators in order for the angular
orientation of the coupling, in position for connection, to be
substantially the same as the angular orientation of the target
duct. Thus, the connection is made more precise and more reliable
in that, on connection, the target duct and the coupling are
aligned. This makes it possible in particular to reduce the risks
of damage to the seals between the coupling and the target
duct.
[0114] In all cases, when the connection has been made, that is to
say when the coupling has been clamped onto the target duct, the
calculator sends a disengage instruction to the actuators so as to
make the movements of the system free in order to enable the
coupling to freely follow the movements of the target duct.
[0115] FIG. 4 is a diagrammatic view in perspective of another
embodiment of a loading arm equipped with a control device
according to the invention, in which the means for providing
information on positioning of the coupling is a camera mounted on
the coupling. The representation of the coupling has been
simplified for reasons of clarity.
[0116] A target 71 is disposed on the target duct 35. The camera is
designed to focus on the target and provide the calculator with an
image of the target. On the basis of that image, the calculator is
adapted to calculate the relative positioning of the coupling
relative to the target duct.
[0117] To that end, the calculator is provided with an algorithm
for processing the image and for shape recognition in order to
determine the distance and the angle so as to deduce therefrom the
relative positioning of the coupling relative to the target duct.
For the calculation of the distance, the algorithm uses the
principle whereby the greater the distance between the coupling and
the target duct, the smaller the image of the target, and for the
calculation of the angle, the principle whereby, for a circular
target, when the coupling is along the axis of the target duct, the
image of the target is circular, and when the coupling is axially
offset relative to the target duct, the image of the target is
elliptical.
[0118] In another variant, several cameras are disposed to focus on
the same target and provide several images to the calculator, the
latter being adapted to process all these images to calculate the
relative positioning of the coupling relative to the target
duct.
[0119] In another embodiment, a camera is mounted on a motorized
support, itself controlled by calculating means to pivot in order
to be continuously oriented towards the target and enabling the
angular orientation of the camera relative to the axis of the
coupling to be known at any time, the calculating means being
adapted to process this angular orientation information and the
image sent by the camera to control the movement of the coupling to
a position for connection.
[0120] Preferably, for reasons of performance, the target is a
reflective sighting device.
[0121] According to an advantageous variant not illustrated, the
target may be omitted, and the camera designed so as to take the
free end of the target duct itself as a target. This embodiment
makes it possible in particular to dispense with having a sighting
device or target on the target duct. Thus, for example, if the
target duct is on a boat, it will be possible for the device to
adapt to all boats of which the ducts are compatible with the
coupling, whether they are equipped with a target or not.
[0122] Apart from the differences described above, structurally,
and functionally, this embodiment is the same as the embodiment of
FIGS. 1 to 3, and it will not therefore be described in more detail
here.
[0123] According to another embodiment not illustrated, the camera
may be disposed on the target duct or on the bridge of a boat so as
to be fixed or motorized relative to the bridge of the boat and be
oriented to provide the calculator with an image of the coupling,
so as to enable the calculator to calculate using the same
principle of the relative positioning of the coupling relative to
the target duct.
[0124] FIG. 5 is a diagrammatic view in perspective of another
embodiment of a loading arm equipped with a control device
according to the invention, in which the means for providing
information on positioning of the coupling is a tensioned cord
between the target duct and the coupling.
[0125] At one of its ends, the cord 75 has means for fastening to
the target duct. The other end of the cord is attached to the drum
of a reel 72, itself mounted on the coupling. The reel comprises an
incremental sensor 73 making it possible to determine the length of
cord unwound, this information being sent to the calculator which
deduces therefrom the distance between the coupling and the target
duct.
[0126] Furthermore, an angle sensor 74 of the cord is provided for
the cord 75, in order to determine an inclination of the cord
relative to at least two reference angles.
[0127] In this way, it is possible to determine the relative
positioning of the coupling relative to the target duct on the
basis of the two reference angles and the distance of the unwound
cord. The angle sensor is for example a sensor using an
inclinometer or a laser to determine the inclination of the cord
relative to said at least two reference angles.
[0128] As a variant, the device is provided with a plurality of
reels of which the cords are attached at separate places, such that
on the basis solely of the information on the unwound distances
provided by the reel sensors, the calculator calculates the angles
and the distance for the relative positioning of the coupling
relative to the target duct.
[0129] On putting it in place, the cord is first of all fastened to
a projectile which is thrown by means known to the person skilled
in the art from the quay to the ship, or from the ship to another
ship. An operator then fastens the free end of the cord to a place
provided on the target duct. The operator may then launch the
procedure for automatic connection using the same principle as in
the embodiment of FIGS. 1 to 3.
[0130] According to a variant not illustrated, the reel is provided
with a cord rupture detector to suspend the connection procedure in
case of rupture of the cord and to trigger a procedure for
retraction of the arm. A corresponding warning is then communicated
to the operator via the command interface, for example by an
indicator light indicating the breakage of the cord.
[0131] FIGS. 6a and 6b are diagrammatic views in perspective of
another embodiment of the loading arm equipped with a control
device according to the invention, in which two different means of
providing information on positioning of the coupling are used. One
of the means makes it possible to determine the positioning of the
coupling with greater precision than the other. The calculator 40
is adapted to use the means for positioning of the coupling having
the least precision to perform a rough approach for the purpose of
the connection of the coupling to the target duct and then, when
the distance between the coupling and the target duct becomes less
than a predefined distance, the calculator uses the coupling
positioning information means having the greatest precision to
perform the final phase of the approach for the purpose of
presenting the coupling in front of the target duct in a position
for connection. In practice, in a first phase the calculator uses
positioning information from the GPS boxes 33 and 34 according to
the same principle as described earlier, and in a second phase the
calculator uses positioning information from a laser device
comprising a laser emitter 77, and a target 76, the device being
adapted to determine, by virtue of a laser beam 78, the relative
positioning of the coupling relative to the target duct during the
final phase of the approach aiming to present the coupling in front
of the target duct in a position for connection. Thus,
advantageously, the device takes advantage of the features of the
different means for providing information on positioning of the
coupling and of the target duct by matching their degrees of
precision with the distance remaining to reach a position for
connection. The precision of the connection is optimized thereby.
As a variant, the laser device is replaced by an infra-red
device.
[0132] Generally, in a variant that is not illustrated which
applies to all the embodiments described above, several arms are
controlled by the same calculator. A selector provided on the
command interface enables a plurality of loading arms, linked to
the same calculator, to be controlled using the same principle and
with the same command interface.
[0133] In another general variant that is not illustrated, the
command interface is a remote control unit provided with a
transmitter for wireless communication with a receiver linked to
the calculator in the electrical control cabinet. The transmitter
and receiver communicate by radio waves. As a variant, the
transmitter and the receiver communicate by optical waves, for
example infrared waves.
[0134] In a variant not illustrated, at least one of the actuators
of the loading arm is a proportional control actuator. In this
variant, the calculator is adapted to control the proportional
control actuators. Advantageously, the use of a proportional
control actuator makes it possible to have movement of the coupling
that is direct and rectilinear, and thus shorter and faster. This
enables the time for the automatic connection procedure to be
reduced.
[0135] Numerous other variants are possible according to
circumstances, and in this connection it is to be noted that that
the invention is not limited to the examples represented and
described.
* * * * *