SHIP BOARD-DETECTION CONTROLLER IN FLUID HANDLING DEVICE

PURPOSE:To safely lower a tube fitting in a vertical direction to a predetermined height above a board by a method wherein the state that the tube fitting is moved beyond a guardrail is ensured on the basis of an automatic connection operation path predetermined by a height of the guardrail in a design horizontal distance and a design vertical distance. CONSTITUTION:An automatic connection operation path is a path along which a tube fitting 17 is moved beyond a guardrail 38B and vertically lowered from a position that an in-board arm 7, an out-board arm, and the like are folded and is previously calculated from design condition data. In accordance with a deviation of a present coordinate of the tube fitting 17 from a coordinate on the automatic connection operation path in a controller 30, a required operation amount signal is each transmitted to actuators 22, 23, and 24. The present coordinate of the tube fitting 17 is made to coincide with the automatic connection operation path under follow-up control. In the state that the tube fitting 17 is moved beyond the guardrail 38B of a board 38, a vertical distance sensor 34 finds the height of the tube fitting 17 from the board 38 as a vertical distance variable. The tube fitting 17 is vertically lowered while the vertical distance variable is collated with a vertical limit value in a memory device and stopped at the height of a tube to be connected 38A provided on a ship.