The basic components of the ROV (Remotely Operated Vehicle) system consist of the ROV sub-system, the control room and the LARS (Launch And Recovery System).
Standard equipment in ROV (Remotely Operated Vehicle) consists of :
- Brushless DC motor thruster.
- Still camera.
- Pan and tilt color video camera.
- Halogen lights.
- Depth sensor with autodepth.
- Heading sensor with autoheading.
- Scanning sonar.
- Side scan sonar.
- Pan & tilt.
- Manipulator.
- Acoustic transponder.
- Acoustic tracking system.
Standard equipment on a surface system consists of :
- Surface power unit.
- DGPS receiver.
- Tracking hardware module.
- Control unit.
- PC Pentium 3.
- fligh quality video recorder.
- Video recorder.
- Color video monitor 10 ?
- Color video monitor 14 ?
- Video printer.
- ROV hand control unit.
- Video overlay.
- Pilot’s monitor with video overlay.
1. DC Brushless Thruster.
Functioning as a drive and maneuver for ROV that is driven by an electric motor with DC current supply from the surface, this device is usually mounted on the ROV in 3 directions, namely horizontal, vertical and lateral.
2. Still camera.
Equipment that can provide an image display of objects and surrounding conditions.
3. Pan & Tilt system.
The system that serves to provide a place for video cameras equipped with lights with varying intensities. The camera is placed on a platform that can provide a slope of up to approximately 90 degrees. The pan & tilt mechanism is equipped with a position feedback potentiometer and the camera tilt angle is displayed on the video display system.
4. Lighting.
The lighting system consists of headlights, cable lights and ballast lights. The headlamps are in a high-pressure lamp housing that can withstand high temperatures and high outside pressure and this house also serves to protect the HID gas arc lamps or standard quartz halogen filament lamps. The headlamps have multiple reflectors which are interchangeable depending on the application. Two headlights each have switches equipped with remote controls placed on the frame and tilt or pan & tilt. Two or three lights can be used and dimmed using a thruster drive card. Both cameras are mounted on the tilt camera unit to follow the tilt angle of the camera in order to get a display with optimal illumination.
5. Bathymetric system.
The most accurate instrument for measuring pressure or depth and height of vehicle bodies immersed in water. This underwater unit is connected to the most accurate pressure sensor with certain corrections made to determine the magnitude of water temperature and if needed can also be used to measure the salinity of sea water that functions as a conductor. The orientation of this pressure sensor is so important that it is installed with an altitude sensor in a package and then calibrated with a unit on the surface connected to a key pad and displays further input corrections for the sound velocity in water, density of seawater, atmospheric pressure, height of units that are above sea level, baud rate and output of survey data forms. In the operation of underwater surveys, the bathymetric system is an important tool to provide a precise reference point for the depth and height of the platform on which other measurements are made. Other applications include measuring the height of ups and downs of tides in fixed underwater structures, dredging operations, rock dumping and placement of bodies drawn in the water column. For control of ROV working class analog outputs can be used to provide auto altitude and information about the environment while various digital outputs are given to survey computers.
6. Manipulators.
The hands are mounted on the ROV with real work capabilities that can move, hold, up / down, rotate and slew. Extender functions provide additional reach to the hand or pull the hand in the ROV. There are 2 types of arms that are commonly used by ROV namely manipulator with 7 functions and rate manipulator. The function 7 manipulator is controlled by a hydraulic servo valve on the ROV and is operated by a small model itself on a surface called the master arm. When the operator moves the master arm, the slave arm on the ROV mimics this motion and adjusts its speed to the speed of the master arm that is moved by the operator. A certain feedback style is inserted so that the operator can feel the force he is using on the object at the bottom of the sea. This arm is very skilled but very complex. Therefore there is an option manipulator, namely the rate manipulator. The rate manipulator is controlled by a hydraulic solenoid valve on the ROV and is operated by a switch modifier on the surface. Generally consists of 5 functions that operate at a constant speed and there is no feedback force. This tool is very simple and easy to maintain and costs less. They can also lift heavy loads and are very difficult to damage. One of the benefits of the other rate arm is that the end of the effector is very easy to remove if necessary it can be replaced with other equipment.
7. ROV Positioning System.
Placed using a USBL acoustic placement system while ROV supporting vessels are placed using the DGPS system. The navigation system is connected to the DGPS and USBL systems. This system is operated by a positioning subcontractor.
• Survey information data from the ROV (gyro, ROV bathy system, DHSS) will be linked to the navigation system using the RS 232 standard interface.
8. Sonar system.
This system was added to expand the imaging and location range of vehicles beyond the ability to see from the camera. This system displays displays up to a range of 5 – 200 m and will produce a high-resolution color aquistic display of several targets with their range and relation to the ROV position.
9. Side scan sonar.
With this tool, it can place small and large objects at a point in the right position on the seabed. This tool is equipped with data acquisition, recording and display facilities.
10. Acoustic system.
Tool that serves to place the ROV in the right position and in a fast time.
11. Video monitor.
As a standard 2 x 9 color video monitor is offered ? which is placed in size 19?. The monitor displays various video camera images that can be displayed along with depth information, compass heading, time, date, CP reading. The display can be recorded to a video recorder and previously recorded videos can be displayed on various monitors. 2 TV channels provided for viewing and recording from two video cameras. Video transmission to the surface via a dual balanced line driver and two screened twisted pairs from the vehicle to the TMS and an optical fiber from the TMS to the surface. Including a video converter, video recorder, and monitor that is connected to the control unit that is on the surface. The ROV camera is connected to the monitor.
12. Hand Controller.
A small remote hand control unit that provides all vehicle controls used for ROV pilots to move the ROV through the video monitor and other sensor information displayed on the video display connected to the existing control unit on the surface via a 5 m cable. All control functions are connected to the hand control unit including camera pan & tilt, auto pilot function, trim thruster control, speed, direction, diving and lighting intensity.
13. Pilot hand console.
An ergonomically designed console that contains all controls that are easily accessible by the pilot’s hand, a rotary control in the form of a joystick that functions to steer the vehicle, the camera selector button, tilt or pan & tilt, auto function, lighting intensity, thruster trim pots and various additional functions which is connected as a choice. The console is equipped with an additional 20 m to make it easier for pilots to see the vehicle while still in hand control before and after checking.
14. Video system.
A single video channel is equipped with a remote modifier mounted on a hand control unit to change between a camera mounted to a vehicle capable of displaying text, graphics, analog and PC data and telemetry that produces information on the video. This can be obtained quickly or added later to the video.
15. Video overlay.
Provides information including north, east, date, time, and Z of the transponder that will be sent to the display unit of the ROV system.
16. Monitor.
Displays various images from a video camera that can be supplemented with information such as depth, compas heading, time, date, CP reading and some sheets of text that are defined by the user. These images can be recorded on a video recorder and displayed on various monitors.
17. Camera control unit.
Contains VHS VCR format, color TV 13? and power camera supply, is a complete control unit on the surface that provides power to video cameras, regulates power to supply lighting needs, communication between ROVs to the surface, recording and viewing underwater activities from above displays the time, date and title of the video display as an explanation.
18. Surface control unit.
It is connected to the surface power supply unit and contains all electronic control systems on the surface, TMS controls and various surface outputs for ordinary equipment. This unit can be free standing and placed on a table or installed in a 19? rack-type laying system in a more permanent installation. This unit also provides output from video, sonar and other sensors that may be installed in the ROV. The SCU (Surface Control Unit) consists of a control module (19? rack mount), 2 × 9? twin channel color video monitors, pilot hand’s console, portable flight case or fixed console, optional sonar processor, optional video recorder.
19. Surface power supply unit.
This unit supplies all power requirements for the entire vehicle system. It is connected to an external power supply and provides the system with the various supplies needed as well as monitor isolation channels installed on DC and AC power components for system security and monitoring purposes. The system power requirements are in the form of 3 phase AC power input between 380 – 480 vac at 15 kva. The longer the umbilical cable, the greater the loss due to channel length. Therefore it is not practical to send an electric current using a voltage of 12 V on a 2 km long cable to the ROV because this will not be able to meet the power requirements for the equipment. It is recommended to transform an AC 220 V 50 Hz signal from a diesel generator which produces an AC 440 V voltage. Re-transform the back signal to an AC 220 V voltage and then flatten and convert it to the required 12-24 V DC voltage.
The surface power unit is enclosed in a waterproof stainless steel that is placed in a tube frame for easy handling and service. Each unit is equipped with a display of voltage, amperage and digital leakage mounted in front of the door that can be seen through weather resistant doors. This unit requires 230 VAC 50 / 60Hz single phase input power and draws 12 Kw. This unit supplies 750 or 1500 VAC output power to the ROV via an umbilical cable. This high voltage output is fully isolated and its main source and is equipped with GFl (Ground Fault Interrupt) to ensure safe operation and to protect personnel.
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