Rotary Docking Probe for ROV Subsea Node Transfer
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Solution Overview
Problem
Existing systems for deploying and retrieving subsea seismic nodes face challenges in efficiently coupling a remotely operated vehicle (ROV) with a subsea basket, particularly when both are moving, and are limited in the shape and size of nodes they can handle.
Innovation Solution
A rotary docking system is implemented, featuring a rotatable docking probe on the ROV that couples with a docking receptacle on a subsea node transfer device, allowing for vertical and horizontal movement to align and secure the devices, and an elevator mechanism with grabbers for handling seismic nodes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a conventional docking system is used between ROV and subsea basket, then the system structure is simple, but the coupling efficiency is low when both devices are moving
Solution Approach 1:
The docking probe is made rotatable to dynamically adjust its position and orientation during the docking process. This allows the probe to compensate for relative movement between the ROV and subsea basket, enabling successful coupling even when both devices are moving, thereby improving coupling efficiency without requiring overly complex active control systems.
Solution Approach 2:
The rotatable docking probe performs preliminary alignment actions before final coupling. By rotating into the correct position in advance, the probe prepares for accurate engagement with the receptacle, reducing the time and complexity needed for the actual docking operation while improving overall coupling efficiency.
2Adaptability or versatility
If a fixed docking probe is used, then the device structure is simple, but the handling capability of different shaped and sized nodes is limited
Solution Approach 1:
The rotatable docking probe can adjust its angular position to accommodate different shapes and sizes of seismic nodes. This dynamic adjustment capability allows the same docking system to handle various node configurations without requiring multiple specialized docking devices, thereby improving adaptability while maintaining relatively simple system structure.
Solution Approach 2:
The rotatable docking probe serves multiple functions by being able to dock with different types of nodes and adjust to various orientations. This multi-functionality allows a single docking system design to handle diverse seismic nodes, improving versatility without proportionally increasing system complexity.
3Productivity
If manual node transfer is used, then the system complexity is low, but the transfer efficiency and automation level are low
Solution Approach 1:
The system enables automated node transfer operations where the ROV can autonomously dock with the subsea basket and transfer nodes without continuous manual intervention. The rotatable docking probe and receptacle system are designed to work together in an automated sequence, improving transfer efficiency while maintaining reasonable system complexity through self-service capabilities.
Data Source
AI summary
Apparatuses, systems, and methods for the docking of an underwater vehicle (such as a ROV) to a subsea structure (such as a basket or cage) for the transfer of payload devices, such as ocean bottom seismic nodes. The ROV may have a docking probe that is rotatable between an extended and retracted position by a rotatory actuator. The subsea structure may have a docking receptacle that receives the docking probe while the probe is in an extended position. The docking probe and receptacle can latch and/or be secured together by a variety of mechanisms. Once secured, the docking probe can rotate thereby changing the relative positions (horizontal and/or vertical) of the ROV and the subsea structure. The underwater vehicle may have an elevator mechanism that may move vertically and/or horizontally and that is coupled to a handler or grabber for handling and/or transfer of the payload devices.