Combined Piloting Method for Underwater ROV Constraint Device
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Solution Overview
Problem
Current remote operated underwater vehicles (ROVs) are limited by the need for multiple low-power inspection ROVs to perform high-power operations, which lack coordination, leading to uncontrolled and potentially damaging movements of objects in underwater environments.
Innovation Solution
A combined piloting method and system that connects multiple ROVs to a constraint device, using a processing unit with software to coordinate commands and apply the Thruster Allocation Matrix algorithm, allowing for the simultaneous control of multiple ROVs as a single high-power unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If multiple low-power inspection ROVs are used to perform high-power operations, then the power capability is improved, but the coordination control becomes complex and difficult to implement
Solution Approach 1:
The patent merges multiple independent ROV control systems into a unified constraint device that mechanically links the ROVs together. This constraint device acts as a single control interface that simultaneously commands all connected ROVs, transforming the complexity of coordinating multiple independent control systems into a single integrated control unit that automatically distributes commands to each ROV based on their operational status and capabilities.
Solution Approach 2:
The constraint device serves as an intermediary between the operator and multiple ROVs. Instead of the operator directly controlling each ROV separately, the constraint device receives the operator's commands and automatically translates them into coordinated control signals for each individual ROV, managing the complexity of multi-vehicle coordination while maintaining simple operator interaction.
2Power
If multiple inspection ROVs operate simultaneously without coordination, then the power capability is improved, but the operational precision and object safety deteriorate due to uncontrolled movements
Solution Approach 1:
The constraint device incorporates feedback mechanisms that continuously monitor the position, orientation, and operational status of each connected ROV. This real-time feedback allows the system to detect deviations from desired operational parameters and automatically adjust the control signals sent to each ROV, maintaining precise control over the group's collective movements and preventing uncontrolled actions that could damage objects.
Solution Approach 2:
By mechanically constraining multiple ROVs to move as a unified group through the constraint device, the system ensures that all ROVs execute coordinated movements simultaneously. This merging of individual ROV movements into a synchronized group action eliminates contradictory forces and maintains operational precision, allowing the group to function with the accuracy of a single controlled unit.
3Power
If a single high-power ROV is used to perform operations, then the operational capability is improved, but the cost and equipment encumbrance increase significantly
Solution Approach 1:
The constraint device provides a universal platform that can accommodate multiple standard inspection ROVs, allowing them to function collectively as a high-power unit. This multi-functional approach enables the same constraint device to work with different combinations of ROVs for various operations, eliminating the need to acquire specialized high-power ROVs for each task and reducing overall equipment requirements and costs.
Solution Approach 2:
Instead of acquiring a single expensive high-power ROV, the system segments the power requirement across multiple affordable inspection ROVs that are connected through the constraint device. This segmentation allows the fleet to achieve high-power operational capability by combining several low-power units, significantly reducing equipment costs while maintaining the necessary operational capability.
Data Source
AI summary
A combined piloting method of remote operated underwater vehicles includes: connecting, to a vertical profile, a constraint device including at least two arms arranged at a reciprocal fixed angular position, each of the at least two docking arms including at a first end a device for the hooking of a remote operated underwater vehicle, the at least two docking arms being constrained at one of their second ends to a device for the sliding and rotating hooking to the vertical profile; connecting at least two remote operated vehicles to the constraint device; detecting the position of the overall structure consisting of the constraint device and remote operated vehicles; detecting the orientation of each of the remote operated vehicles; receiving data relating to the position and orientation to be reached; determining the power required by each remote operated vehicle; and transmitting related commands to each vehicle.