Vectored ROV Thruster Layout for Low-Silt Underwater Maneuvering
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Solution Overview
Problem
Remote Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) often disturb silt when operating near the bottom or within submerged structures, causing visual impairment and affecting measurements and sampling due to thrust and turbulence.
Innovation Solution
The design features thrusters offset from the vertical and horizontal axes, positioned at the corners of the vehicle, which direct thrust outside a frustoconical cone area, minimizing disturbance and allowing for independent control of movement while maintaining a clear path for cameras, and includes a controller to detect and minimize silt disturbance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If thrusters are positioned to provide sufficient thrust for vehicle movement, then vehicle mobility is improved, but silt disturbance increases causing visual impairment and measurement errors
Solution Approach 1:
The thrusters are positioned asymmetrically at the vehicle corners with offsets from both vertical and horizontal axes, creating an unconventional thrust vector configuration that directs exhaust away from the seabed and camera while maintaining effective propulsion
Solution Approach 2:
The thruster offsets introduce additional angular dimensions to the thrust vectors, allowing the exhaust to be directed along frustoconical paths that clear the vehicle's forward cone area, thereby separating the thrust direction from the camera's line of sight without sacrificing propulsion efficiency
2Illumination intensity
If thrusters are positioned to direct thrust away from camera area, then camera clarity is improved, but vehicle control precision may be affected
Solution Approach 1:
The control system dynamically adjusts individual thruster activation based on the vehicle's operational state and desired movement, selecting optimal thruster combinations that maintain precision while minimizing silt disturbance and protecting camera visibility
Solution Approach 2:
The system varies thruster activation parameters (which thrusters are on, at what power levels) based on real-time conditions, allowing flexible optimization of both control precision and camera clarity for different operational scenarios
3Adaptability or versatility
If multiple thrusters are used for precise movement control, then vehicle maneuverability is improved, but complexity of the control system increases
Solution Approach 1:
The control system manages multiple thrusters by segmenting control into modular functions, with each thruster or thruster group controlled independently based on specific movement requirements, simplifying the overall control architecture despite the number of actuators
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration reduces silt disturbance, maintains camera clarity, and allows for precise control of the vehicle's movement, enhancing operational efficiency and data accuracy in silt-prone environments.
Implementation Method 1
a plurality of thrusters aligned such that the thrusters are offset from the vertical and horizontal relative to the centre of the vehicle... a controller operable to activate the thruster to move the vehicle in a desired direction
Data Source
AI summary
An underwater ROV or AUV with 8 vectored thrusters that provides a high degree of dynamic stabilisation, 6-degrees of freedom, and a system to control an underwater ROV or AUV with single or multiple thruster failures. In addition, the ROV/AUV has a system to minimise silt disturbance when operating close to fine silt or sensitive environments.