Pipeline Docking Manipulator for Stable Subsea TVZ Maintenance

Solution Overview

Problem

Subsea maintenance and inspection operations in shallow waters, particularly in the Tidal Variation Zone (TVZ), face challenges with human divers due to high risk and low efficiency, and ROVs struggle to maintain position and stability under high hydrodynamic forces, leading to equipment risk and operational limitations.

Innovation Solution

A manipulator device with diverless docking that attaches to a pipeline or structure, using grippers secured by a hydraulic actuator, allowing operations without thrusters, controlled remotely via umbilical or from a platform, expanding ROV capabilities and enabling access to confined locations.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If human divers are used for subsea maintenance and inspection operations, then operations can be performed in shallow waters, but the risk to human life increases and operational efficiency decreases

Engineering Contradiction:

Improveoperational safetyVSAvoidoperational efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The patent introduces a manipulator device as an intermediary tool that performs maintenance and inspection operations in place of human divers. The device includes manipulators with grippers that can securely handle equipment, and it can be positioned and controlled remotely via umbilical connection, eliminating direct human exposure to hazardous shallow water conditions while maintaining operational capability

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the human mechanical system (divers performing manual operations) with an automated robotic manipulator system. The manipulator device includes articulated manipulators with grippers controlled by a control system, substituting human physical intervention with automated mechanical operations to improve both safety and efficiency

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If ROV is used for subsea operations in TVZ, then human diving operations are eliminated, but the ROV has difficulty maintaining position and stability due to high hydrodynamic forces

Engineering Contradiction:

Improveoperational safetyVSAvoidROV position stability

Core Design Contradiction:

ReliabilityVSStability of the object's composition

Solution Approach 1:

The patent introduces a manipulator device as an intermediary tool that performs maintenance and inspection operations in place of human divers. The device includes manipulators with grippers that can securely handle equipment, and it can be positioned and controlled remotely via umbilical connection, eliminating direct human exposure to hazardous shallow water conditions while maintaining operational capability

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the human mechanical system (divers performing manual operations) with an automated robotic manipulator system. The manipulator device includes articulated manipulators with grippers controlled by a control system, substituting human physical intervention with automated mechanical operations to improve both safety and efficiency

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Stability of the object's composition

If ROV uses thrusters to maintain position in TVZ, then position stability is improved, but the thrusters require a lot of power which increases oil temperature and puts equipment integrity at risk

Engineering Contradiction:

ImproveROV position stabilityVSAvoidthruster power consumption

Core Design Contradiction:

Stability of the object's compositionVSUse of energy by moving object

Solution Approach 1:

The patent introduces a manipulator device as an intermediary tool that performs maintenance and inspection operations in place of human divers. The device includes manipulators with grippers that can securely handle equipment, and it can be positioned and controlled remotely via umbilical connection, eliminating direct human exposure to hazardous shallow water conditions while maintaining operational capability

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the human mechanical system (divers performing manual operations) with an automated robotic manipulator system. The manipulator device includes articulated manipulators with grippers controlled by a control system, substituting human physical intervention with automated mechanical operations to improve both safety and efficiency

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Stability of the object's composition

If ROV docks with its arm to maintain position, then position stability is improved, but the relative movement between platform and ROV subjects the ROV arm to excessive load

Engineering Contradiction:

ImproveROV position stabilityVSAvoidROV arm structural integrity

Core Design Contradiction:

Stability of the object's compositionVSStrength

Solution Approach 1:

The patent introduces a manipulator device as an intermediary tool that performs maintenance and inspection operations in place of human divers. The device includes manipulators with grippers that can securely handle equipment, and it can be positioned and controlled remotely via umbilical connection, eliminating direct human exposure to hazardous shallow water conditions while maintaining operational capability

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the human mechanical system (divers performing manual operations) with an automated robotic manipulator system. The manipulator device includes articulated manipulators with grippers controlled by a control system, substituting human physical intervention with automated mechanical operations to improve both safety and efficiency

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Eliminates the need for human divers and ROV position maintenance, ensuring safety and efficiency by securing the manipulator to the structure, reducing operational risks and costs, and optimizing ROV use in challenging sea conditions.

Implementation Method 1

at least two grippers (4), an umbilical (5), a bend stiffener (6), a hydraulic actuator (7)

Methodology Applied

Scientific EffectHydraulic actuation: Hydraulic Press

Data Source

PatentUS20250326475A1Manipulator device with diverless docking in a pipeline and methods for positioning and controlling the manipulator device

Publication Date: 2025.10.23 PETROLEO BRASILEIRO SA PETROBRAS

AI summary

The present invention is related to subsea technologies, and describes a manipulator device with diverless docking in a pipeline that has the purpose of performing maintenance and inspection operations on pipelines and equipment in shallow water depths (WD), especially in the Tidal Variation Zone (TVZ) where hydrodynamic forces are high. The device is formed by: a main structure (1), a handle (2), at least two manipulators (3), at least two grippers (4), an umbilical (5), a bend stiffener (6), a hydraulic actuator (7), at least one pole (8), a camera and pan & tilt lighting assembly (9), and at least two magnetic hangers (10). The device has the following functions: docking at the work site (a pipeline or other structure where the grippers can be secured to, when closed); moving the manipulator according to the service; and viewing, through the camera and pan & tilt lighting assembly (9), whether the operation is being performed correctly. The method for positioning and controlling the device is carried out by positioning the device at the work site by an ROV, or by a human diver, and after docking at the work site, the device can be controlled by means of an umbilical that connects the same to an ROV or be remotely controlled by the platform by means of an umbilical.