Patent attributes
A fluid delivery system including an articulated fluid delivery unit (FDU) comprising, in preferred embodiments, first and second boom sections concatenated in articulated fashion to a turret. A stinger assembly is provided at a distal end of the FDU. The stinger assembly includes a fluid connection adapter for connection to a mating fluid connection housing assembly provided on a wellhead. Independent control of rotation at each of multiple axes on the FDU allows an operator to establish a measured directional bearing at each axis, such that a set of directional bearings values defines the FDU's current spatial position. In preferred embodiments, the FDU may “learn” a desired spatial position by storing the set of directional bearings values corresponding to that spatial position. The FDU may then return to that stored spatial position robotically when instructed to recall and take up again the corresponding set of directional bearings values.
