AU2020102553A4

AU2020102553A4 - An 8-thruster Remote Operated Vehicle

Info

Publication number: AU2020102553A4
Application number: AU2020102553A
Authority: AU
Inventors: Weidong Gong; Yibing Wang; Junyi Wu; Yifeng Xiang
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-01
Filing date: 2020-10-01
Publication date: 2020-11-19
Anticipated expiration: 2028-10-01

Abstract

The utility model patent provides an observation-class underwater robot. This robot has a great underwater kinematic dexterity and reliability in direction control. The fuselage is divided into upper and lower layers. It can deflect certain angle in both horizontal and vertical direction, which improves it's flexibility a lot. This robot has 8 individually controlled propellers which can perform complex underwater motions such as leaning forward, leaning back and rolling. Meanwhile, this robot is equipped with sonar, DVL sensor and other sensors, which can detect the underwater surroundings precisely. This robot uses both motive seal and static seal, which serve a great leakproofness and make it easy for maintenance and assembling. In the electronic system aspect, this robot uses a modular design motherboard, the required control unit can be used only by directly inserting the template, which is simple, quick and easy to repair and check. 1 ISoystick s T7I7 18V PowerKuOpical Supply Tansceiveri -Opl ivl Fiher Tthire1 lo I' ot ical Conver er.Elo' Tai cIerne ia I) ro i ISACompass Figlre1 ESC Bard 1

Description

ISoystick s

18V PowerKuOpical Supply Tansceiveri

-Oplivl Fiher Tthire1

lo I' T7I7 ot ical

Conver er.Elo' Tai cIerne ia

I) ro i ISACompass

Figlre1

ESC Bard

TITLE An 8-thruster Remote Operated Vehicle

FIELD OF THE INVENTION The present invention relates to an 8-thruster ROV. In specific, an ROV with 8 thrusters that ensure its high motility. The ROV is made for observation, the high motility improved its ability to work in complex underwater environments.

BACKGROUND OF THE INVENTION Many underwater operations that were once carried out by divers can now be carried out more efficiently and with less risk with Remotely Operated Vehicles (ROVs). As ROV technology becomes increasingly efficient and affordable, their use is rapidly spreading throughout a myriad of industries, everything from aquaculture to port and harbour security to underwater crime scene investigation, marine salvage, deep sea archaeology and commercial diving - even deep-sea rescue missions are handled by ROVs. Any industry involved with underwater investigation and surveying will inevitably rely on these machines.

Majority of ROVs today only have 2-5 thruster, in this case they can do some simple movement such as heave, sway, and pitch. The ROV has been used widely in many fields of ocean exploration. The requirements of the underwater vehicle, which can perform more complicated missions such as exploitation and the inspection of benthal pipelines, were more urgent. The ROV is playing an important role in the fast development of ocean exploration.

Maneuverability performance of ROV is the main concern of the designer and user. Modeling and simulation provide a measure to solve the problem. And several scholars have conducted research on motion simulation of ROV. A integrated simulator-UVW (underwater virtual world) for the underwater vehicle "Phoenix" was created in the U.S. Naval Postgraduate School (Brutzman et al. 1998). Some scholars of the University of Tokyo made a series of simulation models ROV for motion simulating in virtual environment (Sang et al. (2003)). Li et al. (2005) researched dynamics modeling for spatial motion of underwater vehicle. Shen et al. (2008b) used the MATLAB/Simulink tools to simulate the submersible's motion.

SUMMARY OF THE INVENTION The utility model patent provides an observation-class underwater robot. This robot has a great underwater kinematic dexterity and reliability in direction control. The fuselage is divided into upper and lower layers. It can deflect certain angle in both horizontal and vertical direction, which improves it's flexibility a lot. This robot has 8 individually controlled propellers which can perform complex underwater motions such as leaning forward, leaning back, and rolling. Meanwhile, this robot is equipped with sonar, DVL sensor and other sensors, which can detect the underwater surroundings precisely. This robot uses both motive seal and static seal, which serve a great leakproofness and make it easy for maintenance and assembling. In the electronic system aspect, this robot uses a modular design motherboard, the required control unit can be used only by directly inserting the template, which is simple, quick and easy to repair and check.

DESCRIPTION OF THE DRAWING Fig. 1 is a block diagram showing the major components and their relations, according to the present invention.

DESCRIPTION OF PREFERRED EMBODIMENT

Step A In order to detect the surrounding body of water, a pair of flood light, a camera with pantilt and a sonar system were mounted on the ROV. The camera would be used in water body that have high visibility and the pan tilt gives the camera a 180 degrees angel of view, while the sonar ensures the ROV's ability of detecting in place that have low visibility. The pressure sensor mounted at the bottom of ROV, allows the driver to know the depth it. To know the depth is vital for both safety concern and data collecting. (All as shown in figure.4)

Step B Inside the ROV, IMU, humidity sensor, temperature sensor and electronic compass were mounted. Due to the high movability we intend to achieve, it is important to know the status of the ROV. With those equipments, the operator would be able to know the speed, position, direction and the posture. The humidity sensor and temperature sensor were mounted to prevent leaking or overheat.

Step C Each thruster would be given different rotating speed and direction so that the force be applied to the ROV would be varied. With 8 separate thrusters, the ROV would be able to achieve a greater variety of movement, including pitch, roll, and yaw.

Step D As for communicating cable, we choose optical fiber. With optical fiber, the audio and controlling signal can be transported without significant delay. In this case, the operator will be able to make quick responses to cope with the complex underwater circumstances. The optical fiber ensured the ROV's high maneuverability will not be limited by the slow signal delivery. Also, in order to convert light and electron signal, an optical transceiver is mounted on both side of optical fiber.

EXAMPLE The ROV can achieve translational movement by the power distribution distributed. If the thruster #1, #2, #5,#6, offer same direction thrust, while #3 ,#4 ,#7 ,#8 offer thrust in the opposite direction, the ROV would move along X-axis, which is called the surge. If #1 #3 #5 #7, offer power in the same direction and #2#4#6#8 to another, the ROV would be able to move along Y-axis, which is also defined as sway. When the #1 #2 #3 #4 rotates in the same direction, while 5678 to another, the ROV would be able to move along Z-axis or so-called heave.

Example 2. In addition to the basic translational that could be achieved by traditional ROVs, the 8 thruster ROV can accomplish rotational motion by special power distribution. Then, when the thruster #1#3#6#8 rotates in the same direction, the ROV would rotate along X-axis, which is defined as the roll. When #1 #2 #7 #8 rotate in the same direction, the ROV is able to rate along the y-axis, which is pitch. When #2#3#6#7, offers the same direction thrust, The ROV would rotate along Z-axis, which is defined as yaw.

Claims

CLAIM 1. An 8-thruster Remote Operated Vehicle, characterized in that, including: each thruster would be given different rotating speed and direction so that the force be applied to the ROV would be varied, with 8 separate thrusters, the ROV would be able to achieve a greater variety of movement, including pitch, roll, and yaw.

Figure 1