ROV Manipulator Auto-Docking for Faster Underwater Tool Changes
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Solution Overview
Problem
The existing systems for submersible remote operated vehicles (ROVs) in petrochemical exploration and production face challenges in efficiently and quickly changing tools underwater, requiring skilled operators and taking significant time due to manual docking processes.
Innovation Solution
An automated system for the manipulator arm of the ROV that uses a tool holder with lead-in ramps and visual tags, combined with image and force feedback control loops, to automatically dock and undock tools, allowing for rapid tool interchange without human assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual docking process is used for tool interchange, then operator control is maintained, but time consumption increases and skill requirement increases
Solution Approach 1:
The manipulator arm performs self-docking to the tool holder using automated control. The system uses sensors to detect the tool holder position and automatically adjusts the arm's position and orientation to dock without human assistance, enabling rapid tool interchange while reducing both time consumption and skill requirements
Solution Approach 2:
The system employs image feedback from cameras and force feedback from sensors to monitor the docking process in real-time. This feedback loop allows the automated control system to make precise adjustments during docking, ensuring accurate alignment and connection while reducing the time required for tool interchange
2Productivity
If automated docking is implemented, then operation time is reduced, but system complexity increases
Solution Approach 1:
The automated docking system integrates multiple functions into a unified control architecture. The same control system manages manipulator arm positioning, tool holder detection, docking execution, and tool interchange coordination, reducing overall system complexity despite the advanced capabilities provided
Solution Approach 2:
The system introduces an automated control system as an intermediary between the operator and the manipulator arm. This intermediary handles the complex docking operations automatically, simplifying the operator's task while managing the complexity of coordinating sensors, actuators, and control algorithms
3Ease of operation
If manual tool changing is performed, then system simplicity is maintained, but productivity decreases
Solution Approach 1:
The manipulator arm performs self-docking to the tool holder using automated control. The system uses sensors to detect the tool holder position and automatically adjusts the arm's position and orientation to dock without human assistance, enabling rapid tool interchange while reducing both time consumption and skill requirements
Solution Approach 2:
The system employs image feedback from cameras and force feedback from sensors to monitor the docking process in real-time. This feedback loop allows the automated control system to make precise adjustments during docking, ensuring accurate alignment and connection while reducing the time required for tool interchange
Data Source
AI summary
A system receives data from a submersible remote operated vehicle (ROV), the data being about the operation of an arm of the ROV. The system automatically controls, based on the data, movement of the arm in docking the arm to a tool holder. In certain instances, the system implements an image based control. In certain instances, the system implements a force accommodation control. In certain instances, the system implements both.