ROV Tool Docking Control for Fast Subsea Manipulator Changes
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Solution Overview
Problem
Existing subsea manipulator systems for offshore petrochemical operations require manual and time-consuming tool changes, which are challenging due to the complexity of underwater operations and the need for high operator skill levels, limiting efficiency and increasing operational costs.
Innovation Solution
An automated docking system for submersible remote operated vehicle (ROV) manipulator arms, utilizing a control interface with sensors and actuators to calculate and execute precise movements, allowing for quick and accurate tool interchange without human intervention, using a tool storage unit with visual tags and force accommodation control to ensure secure and efficient tool handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual tool changes are performed by operators, then tool interchange can be accomplished, but the process is time-consuming and requires high operator skill levels
Solution Approach 1:
The system enables automatic tool interchange through self-positioning manipulator arms that autonomously navigate to tool holders and execute docking sequences without human intervention. The manipulator arm independently calculates trajectories, adjusts for disturbances, and completes tool changes autonomously, eliminating dependence on operator skill while dramatically reducing tool change time from tens of minutes to under a minute.
Solution Approach 2:
The patent replaces manual mechanical operations with an automated control system that uses sensors, actuators, and computer algorithms to control manipulator arm movements. Torque sensors detect forces and disturbances, while the control system calculates corrective trajectories and commands actuators to execute precise movements, substituting human operator actions with automated mechanical control.
2Productivity
If automated docking system is implemented, then tool change time is reduced and operator skill requirements decrease, but system complexity increases
Solution Approach 1:
The control system integrates multiple functions into a unified automated docking system that combines trajectory calculation, disturbance compensation, sensor data processing, and actuator control. The manipulator arm serves multiple purposes: positioning, tool grasping, docking, and tool interchange, reducing the need for separate specialized systems while improving productivity.
Solution Approach 2:
The system incorporates torque sensors that continuously monitor forces and disturbances during manipulator arm movement. The control system processes this feedback information, calculates corrective trajectories in real-time, and adjusts actuator commands to compensate for disturbances, enabling accurate automated docking despite environmental variations without requiring overly complex mechanical structures.
Data Source
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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.