& Services Oil Production Services Company, Tianjin 300452, China)Р Abstract : Aiming at the problems of manual operation by 4 people, high labor intensity and low docking efficiency in the Рcurrent docking process of marine loading arm, an automatic docking system composed of visual recognition and intelligent algoРrithm with Siemens 400 PLC as the control core was developed. Through the operational analysis of marine loading arm, the autoРmatic docking control strategy was designed, and the model design and development process was adopted, to realize the automatic Рdocking of marine loading and unloading arm.Р Key words: marine loading arm ； PLC ； automatic dockingР 85
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