Submersible ROV Thruster Control for Diver Motion Simulation
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Solution Overview
Problem
Existing submersible remotely operated vehicles (ROVs) do not effectively simulate the motion and vision of a human scuba diver, limiting the experience for individuals who cannot or choose not to participate in scuba diving, as they provide a stable platform rather than mimicking the unstable movements of a diver.
Innovation Solution
A submersible ROV equipped with four independently controllable swivel thruster assemblies that allow it to mimic the movements of a scuba diver, coupled with a tether for signal transmission to a controller on land or a surface vessel, enabling real-time audio and visual feedback to a base receiver, allowing users to experience scuba diving from a safe distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a submersible ROV is designed to provide a stable platform for obtaining images, then image stability is improved, but the ability to simulate scuba diver motion is worsened
Solution Approach 1:
The ROV employs four independently controllable swivel thruster assemblies that can be dynamically adjusted to create unstable motions. Each thruster can be controlled independently to simulate the natural, irregular movements of a scuba diver while maintaining the ability to stabilize when needed for imaging tasks.
Solution Approach 2:
The system changes operational parameters by switching between stable and unstable motion modes. The thruster control system adjusts thrust magnitude, direction, and timing to replicate human diver characteristics such as breathing-induced movements, arm flailing, and leg kicking patterns, transforming the ROV from a stable platform to a motion-simulating device.
2Adaptability or versatility
If the ROV is equipped with four independently controllable swivel thruster assemblies to simulate diver motion, then motion simulation capability is improved, but device complexity is worsened
Solution Approach 1:
The propulsion system is segmented into four independent swivel thruster assemblies, each capable of independent control. This segmentation allows complex diver motion simulation to be achieved through coordinated action of simpler, modular units rather than a single complex mechanism.
Solution Approach 2:
Each swivel thruster assembly serves multiple functions: providing forward/backward thrust, lateral movement, rotational control, and depth adjustment. This multi-functionality reduces the need for separate specialized mechanisms for each type of diver motion, simplifying the overall system despite the high degree of motion simulation capability.
3Loss of information
If the ROV transmits audio and visual images in real-time to a base receiver, then user experience quality is improved, but signal transmission reliability is worsened due to tether constraints
Solution Approach 1:
The tether acts as an intermediary that not only provides mechanical support and power but also serves as a communication medium for transmitting audio and visual signals. This dual-use approach allows real-time feedback transmission without requiring separate wireless communication systems that would add complexity and potential failure points.
Data Source
AI summary
A submersible ROV is provided with four independently controllable swivel thruster assemblies that allow the submersible ROV to simulate the movement of a person equipped with scuba gear. The submersible ROV receives control signals from a controller located on the surface of the water or on land. The submersible ROV senses and transmits audio and visual images and transmits those signals to a base receiver located on the surface of the water or on land. Signals are transmitted to and from the submersible ROV via a tether. The tether may be connected either directly to the controller/base receiver or may be connected to an intermediate floating ROV with a power supply and wireless communication relay station. A person can vicariously experience scuba diving via the submersible ROV while remaining dry and safe on land or on a surface vehicle.