Dockable Underwater Robots Counterbalance Tool Forces
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Solution Overview
Problem
Underwater inspection and maintenance tasks are challenging due to stability issues caused by reaction forces from robotic tools, such as inspection arms or cleaning systems, which can push remotely operated vehicles (ROVs) backward and disrupt their stability.
Innovation Solution
A two-part selectively dockable robotic system is provided, where one robot surrounds the underwater target structure and another robot, equipped with a stabilization module, counteracts the forces exerted by the tool to maintain stability, using docking mechanisms like hooks, latches, or moveable magnets to couple and stabilize the system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single ROV performs inspection or cleaning operations on underwater structures, then the operational capability is provided, but reaction forces from the tool push the ROV backward and disturb its stability
Solution Approach 1:
The system divides the single ROV into two separate robotic vehicles: a first ROV that performs the tool operation and a second ROV that provides stabilization. This segmentation allows the functions of operation and stabilization to be performed by independent units, resolving the contradiction between operational capability and stability.
Solution Approach 2:
The second ROV acts as an intermediary stabilization unit that couples to the first ROV via docking mechanisms. This intermediary provides the necessary counteracting forces to maintain system stability during tool operations without interfering with the primary operational function.
2Productivity
If a robotic arm or cleaning system is operated on an underwater structure, then the inspection or cleaning task is performed, but strong reaction forces make it difficult to stabilize the ROV
Solution Approach 1:
The system separates the high-productivity tool operation (performed by the first ROV) from the stabilization function (performed by the second ROV). This allows the tool to operate at full capacity while the dedicated stabilization unit handles the reaction forces, resolving the contradiction between productivity and stability.
Solution Approach 2:
The second ROV provides counteracting forces that balance the reaction forces generated by the tool operations on the first ROV. This counterbalancing approach allows the tool to exert full force on the underwater structure while the system remains stable through the opposing stabilization forces.
3Stability of the object's composition
If a two-part robotic system is used with docking mechanisms to provide stabilization, then stability during operations is improved, but the device complexity increases
Solution Approach 1:
Both ROVs are equipped with complementary docking mechanisms that can function in multiple ways: coupling the two ROVs together, providing structural support for stabilization, and enabling selective connection/disconnection. This multi-functionality reduces the need for separate dedicated components, mitigating the increase in device complexity.
Solution Approach 2:
The docking mechanisms integrate multiple functions into unified components: mechanical coupling, force transmission, and structural support are combined in the docking interface. This merging reduces the overall number of separate components and simplifies the system architecture while maintaining the required stability.
Data Source
Figure 1
Figure 1A
Figure 2A~2B
AI summary
A two-part, selectively dockable robotic system (10) having counterbalanced stabilization during performance of an operation on an underwater target structure (T) is provided. The robotic system includes a first underwater robotic vehicle (100) that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle (200) is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms (112, 212) that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool (104) that can act upon the target structure and the other robot includes a stabilization module (204) that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.