Patent attributes
A control device for controlling the movement of a coupling located on the movable end of a fluid transfer line of a marine loading system includes at least three actuators which each control movement of the coupling in a corresponding degree of freedom, a device positioned on or adjacent the coupling and/or a target duct for providing information on the positioning of the coupling, and a calculating device for (a) calculating the positioning of the coupling relative to the target duct on the basis of the positioning information, (b) calculating control instructions for each of the actuators which will result in movement of the coupling toward the target duct, (c) applying the 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.
