ROV Manipulator Tool Docking Control for Automated Underwater Tool Change

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing submersible remote operated vehicles (ROVs) require manual and skilled operation to change tools underwater, which is time-consuming and demands high operator expertise, limiting efficiency and increasing operational costs.

Innovation Solution

An automated system for the manipulator arm of the ROV that includes a tool interchange mechanism and a control interface, allowing for automated docking and undocking of tools using sensors, actuators, and image feedback control, enabling quick and precise tool changes without human assistance.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Loss of time

If manual operation is used for tool changes, then operator control and precision are maintained, but time consumption increases and skill requirements increase

Engineering Contradiction:

Improvetool change timeVSAvoidoperator skill requirement

Core Design Contradiction:

Loss of timeVSEase of operation

Solution Approach 1:

The manipulator arm performs tool changes autonomously using its own sensors, actuators, and control systems. The system detects tool positions, calculates docking paths, and executes undocking/docking operations without human assistance, making the system self-sufficient in performing the tool interchange function.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces manual mechanical operation with an automated control system that uses sensors (acoustic, imaging, range-finding), actuators, and computer algorithms to perform tool changes. This substitution of mechanical human operation with automated sensing and control systems enables rapid, skill-independent tool interchange.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Productivity

If automated system is implemented, then tool change speed increases and operator skill requirement decreases, but system complexity increases

Engineering Contradiction:

Improvetool change efficiencyVSAvoidautomation system complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The manipulator arm is designed with multi-functionality, serving both as the primary operational tool carrier and as the automated tool interchange system. The same arm, equipped with sensors and actuators, performs both task execution and tool replacement functions, eliminating the need for separate automated interchange equipment.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system employs multiple sensors (acoustic sensors, imaging sensors, range-finding sensors) that provide real-time feedback about tool positions, arm orientation, and docking status. This feedback is processed by the control system to automatically adjust the manipulator arm's movements and execute precise docking/undocking operations, enabling rapid and reliable automated tool changes.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS11608148B2Submersible remote operated vehicle tool change control

Publication Date: 2023.03.21 FMC TECHNOLOGIES INC

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.