ROV Manipulator Tool Docking With Image and Force Feedback
Find Innovative SolutionsGenerate Solutions
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, which hampers operational efficiency and increases costs.
Innovation Solution
The implementation of an automated docking system for the manipulator arm of the ROV, utilizing a tool storage unit with a face plate and lead-in ramps, along with image and force feedback control loops, allows for the automated and rapid interchange of tools by calculating and adjusting the arm's path to securely dock and undock from tool holders, reducing the need for human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual tool changing is used by skilled operators, then tool interchange capability is achieved, but the process takes significant time and requires high operator skill level
Solution Approach 1:
The system enables automated tool changing where the ROV manipulator arm autonomously docks with tool holders, attaches/detaches tools, and returns to base without continuous human intervention. The automated control system with image and force feedback loops performs the tool interchange process independently, eliminating the need for skilled operators to manually perform each step underwater.
Solution Approach 2:
The patent replaces manual mechanical operations with an automated control system that uses image feedback from cameras and force feedback from sensors to guide the manipulator arm through tool changing operations. This substitution of human skill with automated sensing and control mechanisms reduces both time and skill requirements.
2Productivity
If automated docking system is implemented, then tool interchange speed is improved, but system complexity increases
Solution Approach 1:
The system employs dual feedback loops: an image feedback loop using cameras to visually guide the manipulator arm to tool holders and monitor docking status, and a force feedback loop using sensors to detect contact forces and adjust positioning. These feedback mechanisms enable automated control without requiring overly complex algorithms, as the real-time sensory information directly guides the docking process.
Solution Approach 2:
The patent introduces intermediary components such as cameras and force sensors that mediate between the manipulator arm and the tool holders. These intermediaries provide sensory information to the control system, enabling automated docking without direct human intervention while keeping the control architecture manageable through modular sensing and actuation components.
3Productivity
If manual tool changing is used, then system simplicity is maintained, but operational efficiency decreases
Solution Approach 1:
The tool storage unit is segmented into multiple modular tool holders that can independently store different tools. The manipulator arm can dock with any tool holder autonomously, allowing parallel tool preparation and selection. This segmentation enables efficient tool interchange operations without requiring a monolithic complex system, as each tool holder is a standardized, interchangeable component.
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.